概念梳理

内参

  • width:图片像素宽度
  • height:图片像素高度
  • ppx:图像主点的水平坐标,从左边边缘偏移的像素数
  • ppy:图像主点的垂直坐标,从顶部边缘偏移的像素数
  • fx:图像平面的焦距,像素宽度的倍数
  • fy:图像平面的焦距,像素高度的倍数
  • model:图像失真模型
  • coeffs【5】:失真系数。Brown-Conrady:[k1,k2,p1,p2,k3]。F-Theta 鱼眼的阶次: [K1,K2,K3,K4,0]。其他模型有各自的解释

相机失真模型

Brown-Conrady

环境搭建

[!IMPORTANT] Realsense最新的驱动已经移除了对T265的支持,默认安装最新的Realsense库打开realsense-viewer设备列表找不到T265,需要安装2.50.0的库。dkms包可以默认安装。

来源:https://github.com/IntelRealSense/librealsense/releases v2.54.2的发布说明

安装命令

 1sudo apt install curl
 2sudo mkdir -p /etc/apt/keyrings
 3curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
 4sudo apt install apt-transport-https
 5echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
 6sudo tee /etc/apt/sources.list.d/librealsense.list
 7sudo apt update
 8sudo apt install librealsense2-dkms=1.3.16-0ubuntu1
 9sudo apt install librealsense2=2.50.0-0~realsense0.6127
10sudo apt install librealsense2-gl=2.50.0-0~realsense0.6127
11sudo apt install librealsense2-net=2.50.0-0~realsense0.6127
12sudo apt install librealsense2-utils=2.50.0-0~realsense0.6127
13sudo apt install librealsense2-dev=2.50.0-0~realsense0.6127
14sudo apt install librealsense2-udev-rules=2.50.0-0~realsense0.6127
15sudo apt install ros-melodic-realsense2-camera
16sudo apt install ros-melodic-apriltag

代码解读

https://github.com/IntelRealSense/librealsense/blob/v2.50.0/examples/pose-apriltag/rs-pose-apriltag.cpp