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

sudo apt install curl
sudo mkdir -p /etc/apt/keyrings
curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
sudo apt install apt-transport-https
echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
sudo tee /etc/apt/sources.list.d/librealsense.list
sudo apt update
sudo apt install librealsense2-dkms=1.3.16-0ubuntu1
sudo apt install librealsense2=2.50.0-0~realsense0.6127
sudo apt install librealsense2-gl=2.50.0-0~realsense0.6127
sudo apt install librealsense2-net=2.50.0-0~realsense0.6127
sudo apt install librealsense2-utils=2.50.0-0~realsense0.6127
sudo apt install librealsense2-dev=2.50.0-0~realsense0.6127
sudo apt install librealsense2-udev-rules=2.50.0-0~realsense0.6127
sudo apt install ros-melodic-realsense2-camera
sudo apt install ros-melodic-apriltag

代码解读

```cpp { title=“https://github.com/IntelRealSense/librealsense/blob/v2.50.0/examples/pose-apriltag/rs-pose-apriltag.cpp”}

```