CamOdoCal相机标定过程

 

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-dev

Download 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文件里面找到对应的说明。
生成的相机标定结果在当前目录下的 camera_camera_calib.yaml文件中。
camera_camera_calib.yaml: 　　相机标定结果
camera_chessboard_data.dat　　棋盘格图像