calibration_images

Calibrate camera parameters

1. launch mynt_eye_ros_wrapper

    cd MYNT-EYE-S-SDK
    make ros
    source wrappers/ros/devel/setup.bash
    roslaunch mynt_eye_ros_wrapper mynteye.launch
   

2. launch calibration_images

   calibration_images pkg is used to get the calibration image list, press the wkey to save image to mynt_images_fisheye or mynt_images_pinhole file. We collect about 30 images to calibrate the camera parameters. here is chessbord_9_6, grid_size is the measured value, unit millimeters.

   fisheye model, follow the type:

    roslaunch calibration_images calibration_fisheye.launch
   

   pinhole model, follow the type:

    roslaunch calibration_images calibration_pinhole.launch
   

3. run camera_model node to extrat camera parameters, copy the contents to <vins>/config/mynteye/mynteye_config.yaml.

   fisheye model, follow the type:

     roscd calibration_images/mynt_images_fisheye
     rosrun camera_model Calibration -w 9 -h 6 -s 25.16 -p fisheye_ -e .jpg -i . --camera-model mei
   

   pinhole model, follow the type:

     roscd calibration_images/mynt_images_pinhole
     rosrun camera_model Calibration -w 9 -h 6 -s 25.16 -p color_ -e .jpg -i . --camera-model pinhole
   

   The camera_camera_calib.yaml file is generated in the mynt_images_fisheye or mynt_images_pinhole file when the calibration is completed.