完整版用kalibr标定 camera imu

最新推荐文章于 2025-03-18 12:04:33 发布

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最新推荐文章于 2025-03-18 12:04:33 发布

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本文链接：https://blog.csdn.net/qq_31119155/article/details/79908668

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  2:相机标定 

  2.1:去github 
 https://github.com/slightech/MYNT-EYE-SDK 下载小觅SDK安装 opencv的版本和SDK一定要对应，否则不成功 

  （因为我没有找到修改SDK源码的CMakeLists） 

  依据SDK中的/home/shenying/mynteye-1.8-linux-x64-gcc5-opencv-3.4.0/doc/api/mynteye-apidoc-1.8.pdf去安装 

  步骤为： 

 
 Prerequisites 

 
 # Install build tools 

 
 $ sudo apt-get install build-essential cmake git 

 
 # Install OpenCV dependencies 

 
 $ sudo apt-get install pkg-config libgtk2.0-dev 

 
 # Install ssl for https, v4l for video 

 
 $ sudo apt-get install libssl-dev libv4l-dev v4l-utils 

 
 Install OpenCV 3.4 

 
 $ git clone https://github.com/opencv/opencv.git 

 
 $ cd opencv/ 

 
 $ git checkout tags/3.4.0 

 
 $ mkdir build 

 
 $ cd build/ 

 
 $ cmake \ 

 
 -DCMAKE_BUILD_TYPE=RELEASE \ 

 
 -DCMAKE_INSTALL_PREFIX=/usr/local \ 

\

 
 -DWITH_CUDA=OFF \ 

\

 
 -DBUILD_DOCS=OFF \ 

 
 -DBUILD_EXAMPLES=OFF \ 

 
 -DBUILD_TESTS=OFF \ 

 
 -DBUILD_PERF_TESTS=OFF \ 

..

 
 $ make -j4 

 
 $ sudo make install 

 
 Install CUDA (Optional) 

 
 If you have Nvidia's graphic card, you could enable GPU compute capability as follows: 

Ensure your graphic card drivers are up to date.
Download and install correct version of CUDA Toolkit according to here.

 
 Install SDK 

 
 Go to the SDK directory and edit  
 sdk.cfg 
  to set your OpenCV install directory etc., then install: 

 
 $ cd <sdk directory> 

 
 $ ./install.sh 

 
 $ source ~/.bashrc 

 
 Check Installation 

 
 After  
 ./install.sh 
 , you could check the environment variables: 

 
 $ echo $MYNTEYE_SDK_ROOT 

 
 <Should be the sdk path> 

 
 Build SDK Samples 

 
 $ cd samples/ 

 
 $ mkdir build 

 
 $ cd build/ 

 
 $ cmake -DCMAKE_BUILD_TYPE=Release .. 

 
 $ make 

 
 Then you could run the sample like this: 

 
 $ ./samples/bin/camera [name] 

 
 Please see "samples/README.md" to learn more about the samples. 

 
 测试成功后，安装MYNT-EYE-OKVIS-Sample 依据github https://github.com/slightech/MYNT-EYE-OKVIS-Sample去安装  

 
 成功后 根据 /home/shenying/MYNT-EYE-OKVIS-Sample/cameraimu_calibration_guidebook.md 指导书去安装 kalibr 

 
 2.2 一般推荐源码安装kalibr https://github.com/ethz-asl/kalibr/wiki/installation 

  B) Building from source 

  To build the toolbox from source follow these steps (tested on Ubuntu 14.04 with ROS indigo): 

  Install ROS indigo 

  see ros.org for more information 

  Example installation on Ubuntu 16.04 and ROS kinetic: 

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list' 

  wget http://packages.ros.org/ros.key -O - | sudo apt-key add - 

  sudo apt-get update 

  sudo apt-get install ros-kinetic-desktop python-rosinstall python-rosdep -y 

  rosdep init 

  rosdep update 

  Install the build and run dependencies: 

  依赖库一定得安，否则后期会出现各种错误; 

  sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev 

  sudo pip install python-igraph --upgrade 

  Create a catkin workspace 

  mkdir -p ~/kalibr_workspace/src 

  cd ~/kalibr_workspace 

  source /opt/ros/kinetic/setup.bash 

  catkin init 

  catkin config --extend /opt/ros/kinetic 

  catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release 

  Clone the source repo into your catkin workspace src folder 

  cd ~/kalibr_workspace/src 

  git clone https://github.com/ethz-asl/Kalibr.git 

  Build the code using the Release configuration. depending on the available memory, you might need to reduce the build threads (e.g. add -j2 to catkin_make) 

  cd ~/kalibr_workspace 

  catkin build -DCMAKE_BUILD_TYPE=Release -j4 

  Grab a coffee, this will take a while... 

  Once the build is finished you have to source the catkin workspace setup to use Kalibr 

  source ~/kalibr_workspace/devel/setup.bash 

  More information on building with catkin and ROS can be found here. 

  kalibr 安装成功！ 

  2.3 下面开始标定，用mynt-eye-okvis-sample/build 下okvis_app_getcameracalibdataset获得pic 

  用okvis_app_getcameraimucalibdataset获得 pic 和imu数据 然后打包成 bag包 

  坑1： ImportError: No module named sm 

  sudo apt install sm 不行 

  pip install sm 可以 

  坑2： ImportError: cannot import name PlotCollection 这个错误纠结了我近一天，感觉还是sm模块里的东西出现错误 

  重新卸载安装了几次依然无用，然后安装 install pip matplotlib 后出现了新的错误; 

  坑3：ImportError: cannot import name NavigationToolbar2Wx 然后找来专门写python的人 找下 发现 matplotlib 中没有NavigationToolbar2Wx 而是换成了NavigationToolbar2WxAgg 所以修改源码 还害怕下面用了该库中的函数，先试试 

  结果通过，可能是该库随着时间更新了，老版本不用了。 

  坑4： ImportError: No module named kalibr_common 每次出现这种情况都是没有source文件 

  解： source ~/kalibr_workspace/devel/setup.bash 

  最后：运用/home/shenying/MYNT-EYE-OKVIS-Sample/cameraimu_calibration_guidebook.md 指导书去标定 

  2.4如何正确解读标定结果：（费了九牛二虎之力好不容易 出来结果了，如果不会看结果就.......） 

  a:为什么要进行标定？ 

  相机：为了要计算相机的内参外参数 （ 
 支持相机模型: pinhole, omin; 支持畸变模型:radtan, equi, fov） 

  内参：焦距，光心 （fx,fy,cx,cy） 

  畸变（径向、离心、薄棱径）参数（纠正）： （k1, p1, p2, s1, s2） 

  径向畸变： 

  偏离心畸变： 

  薄棱径畸变：非常小，一般不考虑。 

  b：如果不标定会出现什么情况？ 

  相机镜头拧会影响内参，无法运用，比如orb跟丢（一种可能） 

  c：如何评价结果好坏？ 

  取巧的方法：和所标期间 

  相机重投影误差控制在几个像素内，imu标定零偏，零漂。 