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https://github.com/libing64/camera_model
相机内参标定和双目标定, 支持多种相机模型和多种标定板，
https://github.com/libing64/camera_model
camera-calibration charuco chessboard intrinsic-calibration pinhole-camera stereo-calibration
Last synced: 2 months ago
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相机内参标定和双目标定, 支持多种相机模型和多种标定板，
- Host: GitHub
- URL: https://github.com/libing64/camera_model
- Owner: libing64
- Created: 2020-08-08T02:22:57.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2021-09-25T13:02:09.000Z (over 3 years ago)
- Last Synced: 2024-08-01T03:27:21.000Z (5 months ago)
- Topics: camera-calibration, charuco, chessboard, intrinsic-calibration, pinhole-camera, stereo-calibration
- Language: C++
- Homepage:
- Size: 16 MB
- Stars: 112
- Watchers: 4
- Forks: 32
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# camera_model
相机内参标定和双目标定
支持多种相机模型:
* pinhole model
* kannala-brandt model
* mei model
* scaramuzza model
支持多种标定板
* chessboard
* circles grid
* asymmetric circles grid
* aruco makers
* charuco makrers
## 编译 & 安装
依赖项
* OpenCV (with opencv_contrib)
* Ceres Solver
* boost
```
cd camera_model
mkdir build
cd build
cmake ..
make
sudo make install
```
## 调用
编译安装之后， camera_model会作为共享库被安装在系统目录, 使用时无需添加源码，只添加依赖关系即可
```
cmake_minimum_required(VERSION 3.0)
project(camera_model_example)
add_executable(example example.cc)
target_link_libraries(example camera_model)
```
# 参考 & 感谢
part of [camodocal](https://github.com/hengli/camodocal)
感谢原作者 [Lionel Heng](https://github.com/hengli)
感谢 [YZF](https://github.com/dvorak0) 整理camera_model
感谢 [Tianbo](https://github.com/groundmelon) 添加Scaramuzza模型实现
# 用法
## 相机内参标定 intrinsic_calib
Use [intrinsic_calib.cc](https://github.com/libing64/camera_model/blob/master/src/intrinsic_calib.cc) to calibrate your camera.
## 双目标定 stereo_calib
Use [stereo_calib.cc](https://github.com/libing64/camera_model/blob/master/src/stereo_calib.cc) to calibrate your camera.
## Undistortion:
See [Camera.h](https://github.com/libing64/camera_model/blob/master/include/camera_model/camera_models/Camera.h) for general interface:
- liftProjective: Lift points from the image plane to the projective space.
- spaceToPlane: Projects 3D points to the image plane (Pi function)
# 案例
# 相机内参标定 intrinsic calib
## mei model
```
./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model mei --camera-name fisheye_mei -v
```
## pinhole model
```
./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model pinhole --camera-name fisheye_pinhole -v
```
## kannala-brandt
```
./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model kannala-brandt --camera-name fisheye_kannala-brandt -v
```
## scaramuzza
```
./intrinsic_calib -w 9 -h 6 -i ../data/fisheye -p left -e jpg --camera-model scaramuzza --camera-name fisheye_scaramuzza -v --view-results
```
## asymmetric cirlces grid
```
./intrinsic_calib -w 4 -h 11 -i ../data/asymmetric_circles_grid -p asymmetric_circles_grid -e jpg --pattern asymmetric_circles_grid --camera-model pinhole --camera-name webcam -v --view-results
```
注意，这里一定要4x11, 设置为11x4就不行
## circles grid
```
./intrinsic_calib -w 9 -h 6 -i ../data/circles_grid -p circles_grid -e jpg --pattern circles_grid --camera-model pinhole --camera-name circles_grid_cam -v --view-results
```
## charuco marker
```
./intrinsic_calib -w 4 -h 6 -s 0.04 --marker-size 0.024 -i ../data/charuco -p charuco -e jpg --pattern charuco --dp ../data/pattern/detector_params.yml -d 10 --camera-model pinhole --camera-name charuco_cam -v --view-results
```
```
./intrinsic_calib -w 4 -h 6 -s 0.04 --marker-size 0.024 -i ../data/charuco -p charuco -e jpg --pattern charuco --dp ../data/pattern/detector_params.yml -d 10 --camera-model kannala-brandt --camera-name charuco_cam -v --view-results
```
## stereo calibration
```
./stereo_calib -i ../data/stereo_images/ -e jpg --prefix-l left --prefix-r right --camera-model mei -v --view-results
```
## stereo calibration circles (virtual test with mono image)
```
./stereo_calib -i ../data/circles_grid --pattern circles_grid -e jpg --prefix-l circles_grid --prefix-r circles_grid --camera-model mei -v --view-results
```
# TODO
- [ ] add aruco marker