完整版用kalibr标定 camera imu
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
$ ./install.sh
$ source ~/.bashrc
Check Installation
After
./install.sh
, you could check the environment variables:
$ echo $MYNTEYE_SDK_ROOT
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。