传感器: 小觅相机标准版
开源SLAM方案: ORB_SLAM2,VINS MONO,VINS FUSION,RTAB-Map
测试地点: 室内大厅(光线不均)/ 露天阳台
实现形式: 小觅相机 / kinect 在目标地点跑两圈
相机标定:
1) 安装标定工具,在命令行里输入:
rosdep install camera_calibration
rosmake camera_calibration
2) roscore
3) source MYNT-EYE-S-SDK/wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
4) rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.02516 --no-service-
check --approximate=0.1 right:=/right/image_raw_color left:=/left/image_raw_color right_camera:=/mynteye/right left_camera:=/mynteye/left
获取图像校准参数
1)cd MYNT-EYE-S-SDK
2)./samples/_output/bin/tutorials/get_img_p