官方文档：
https://mynt-eye-s-sdk-docs-zh-cn.readthedocs.io/zh_CN/latest/src/tools/calibration_tool.html
标定工具的使用¶
介绍¶
1.1 支持平台¶
目前标定工具只支持了 Ubuntu 16.04 LTS 上的发布。但有支持官方、ROS多版 OpenCV 依赖。
平台 |
架构 |
不同依赖 |
|---|---|---|
Ubuntu 16.04 LTS |
x64(amd64) |
libopencv-dev |
Ubuntu 16.04 LTS |
x64(amd64) |
ros-kinetic-opencv3 |
1.2 工具包说明¶
Ubuntu 上提供的是 deb/ppa 安装包，名称上会区分架构、依赖和版本。如下：
mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
mynteye-s-calibrator-opencv-ros-kinetic-1.0.0_amd64.deb
其中，
依赖标识 |
依赖包名 |
详细说明 |
|---|---|---|
opencv-official |
libopencv-dev |
|
opencv-ros-kinetic |
ros-kinetic-opencv3 |
1.3 deb 工具包获取¶
获取方式 |
获取地址 |
|---|---|
百度网盘 |
|
Google Drive |
https://drive.google.com/open?id=1RsV2WEKAsfxbn-Z5nGjk5g3ml1UDEsDc |
安装¶
2.1 安装准备¶
Ubuntu 16.04 LTS 环境，x64 架构
标定工具的 deb 包，按需选择 OpenCV 依赖 (PPA安装不需要此步)
2.2 安装 ppa 包¶
$ sudo add-apt-repository ppa:slightech/mynt-eye-s-sdk $ sudo apt-get update $ sudo apt-get install mynteye-s-calibrator $ sudo ln -sf /opt/myntai/mynteye-s-calibrator/mynteye-s-calibrator /usr/local/bin/mynteye-s-calibrator
2.3 安装 deb 包¶
sudo dpkg -i 即可安装 deb 包。如下：
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... (Reading database ... 359020 files and directories currently installed.) Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ... Unpacking mynteye-s-calibrator (1.0.0) over (1.0.0) ... Setting up mynteye-s-calibrator (1.0.0) ...
如果遇到了依赖包未安装的错误，例如：
$ sudo dpkg -i mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb
Selecting previously unselected package mynteye-s-calibrator.
(Reading database ... 358987 files and directories currently installed.)
Preparing to unpack mynteye-s-calibrator-opencv-official-1.0.0_amd64.deb ...
Unpacking mynteye-s-calibrator (1.0.0) ...
dpkg: dependency problems prevent configuration of mynteye-s-calibrator:
mynteye-s-calibrator depends on libatlas-base-dev; however:
Package libatlas-base-dev is not installed.
dpkg: error processing package mynteye-s-calibrator (--install):
dependency problems - leaving unconfigured
Errors were encountered while processing:
mynteye-s-calibrator
可以继续执行 sudo apt-get -f install 完成安装，
$ sudo apt-get -f install
Reading package lists... Done
Building dependency tree
Reading state information... Done
Correcting dependencies... Done
The following additional packages will be installed:
libatlas-base-dev
Suggested packages:
libblas-doc liblapack-doc
The following NEW packages will be installed:
libatlas-base-dev
0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded.
1 not fully installed or removed.
Need to get 3,596 kB of archives.
After this operation, 30.8 MB of additional disk space will be used.
Do you want to continue? [Y/n]
Get:1 http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64 libatlas-base-dev amd64 3.10.2-9 [3,596 kB]
Fetched 3,596 kB in 3s (1,013 kB/s)
Selecting previously unselected package libatlas-base-dev.
(Reading database ... 358993 files and directories currently installed.)
Preparing to unpack .../libatlas-base-dev_3.10.2-9_amd64.deb ...
Unpacking libatlas-base-dev (3.10.2-9) ...
Setting up libatlas-base-dev (3.10.2-9) ...
update-alternatives: using /usr/lib/atlas-base/atlas/libblas.so to provide /usr/lib/libblas.so (libblas.so) in auto mode
update-alternatives: using /usr/lib/atlas-base/atlas/liblapack.so to provide /usr/lib/liblapack.so (liblapack.so) in auto mode
Setting up mynteye-s-calibrator (1.0.0) ...
3.1 使用准备¶
MYNT EYE S 相机
棋盘格标定板
光照均匀的场景
3.2 使用命令¶
安装好标定工具后，在终端可直接运行 mynteye-s-calibrator 命令进行标定。 -h 可见其选项：
$ mynteye-s-calibrator -h Usage: mynteye-s-calibrator [options] help: mynteye-s-calibrator -h calibrate: mynteye-s-calibrator -x 11 -y 7 -s 0.036 -n 6
Calibrate MYNT EYE S device.
参数:
-
-h, --help
-
显示帮助信息并退出
-x WIDTH, --width=WIDTH
-
棋盘格宽, 默认: 11
-y HEIGHT, --height=HEIGHT
-
棋盘格高, 默认: 7
-s METERS, --square=METERS
-
棋盘格格子边长, 默认: 0.036
-n NUMBER, --number=NUMBER
-
用于标定的图片张数, 默认: 11
-p PATH, --path=PATH
-
保存结果的文件夹名, 默认: 相机SN名
-x -y -s 用于设定标定板的宽、高、格子大小。宽、高分别指棋盘格横纵向的黑白交叉点数。格子大小，单位是 m