1、小觅相机目前标准版有三款,详见:小觅双目摄像头标准版系列参数比较
2、彩色工程版有以下7种分辨率可选,数据输出格式为YUYV,基线80mm,焦距0.95mm,有6轴IMU,无IR,像素尺寸3X3um
3、彩色工程版和标准灰色版使用相同的SDK,但标准彩色版目前只能在Ubuntu下使用,在WIN10下无法正常读取图片
4、SDK有桶形矫正API,但效果如下,感觉不佳
以下使用SDK2.3.0
5、详见官方指导
S-SDK官方指导
结合官方指导与github—https://github.com/slightech/MYNT-EYE-S-SDK,本人成功配置步骤如下:
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
git clone https://github.com/slightech/MYNT-EYE-S-SDK
cd
make ros
会自动运行make install。运行完,配置成功
感觉github上的readme挺有用
(1)运行节点,创建的ROS工作空间在wrappers文件夹下
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
或者打开 RViz 预览
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper display.launch
发布的topic里有桶形矫正后的image_rect
(2)试试samples
make samples
./samples/_output/bin/device/camera_d
参考D版(深度相机的SDK)的教程:Qt Creator 如何使用 SDK
由于SDK不同,具体的API与配置路径也不同,成功配置如下:
INCLUDEPATH += /usr/local/include/mynteye
LIBS += /usr/local/lib/libmynteye.so
类似于opencv
INCLUDEPATH += /usr/local/include
INCLUDEPATH += /usr/local/include/opencv2
INCLUDEPATH += /usr/local/include/opencv
LIBS += /usr/local/lib/libopencv_*.so
#include "mynteye/api/api.h"
https://slightech.github.io/MYNT-EYE-D-SDK/cmake.html