CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry
CamOdoCal git仓库:
https://github.com/hengli/camodocal
cd camodocal
mkdir build
cmake -DCMAKE_BUILD_TYPE=Release ..
最后执行make进行编译
make -j4报错如下：
是由于未安装glog库。
解决办法如下：
sudo apt-get install libgoogle-glog-dev还需要安装libsuitesparse-dev
sudo apt-get install libsuitesparse-devDownload the SuiteSparse libraries from this [link] 1 and do not use the Ubuntu package since the SuiteSparseQR library is missing in the Ubuntu package and is required for covariance evaluation.
使用自己编译的opencv库替代ros中的opencv
find_package(OpenCV REQUIRED
NO_MODULE # should be optional, tells CMake to use config mode
PATHS /usr/local # look here
NO_DEFAULT_PATH) # and don't look anywhere else编译成功之后，可执行文件位于。./build/bin
1. Intrinsic calibration ([src/examples/intrinsic_calib.cc] 2)
bin/intrinsic_calib -i ../data/images/ -p img --camera-model mei
相应的配置参数可以在src/examples/intrinsic_calib.cc文件里面找到对应。
生成的结果在build目录下 camera_camera_calib.yaml文件中。
ddd