#Main version: ##Source Tree:
- Refine from CamOdoCal
- Refined by YZF dvorak0
- Modified by LIU Tiambo GroundMelon
- Modified by GWL gaowenliang
The origin author, Lionel Heng.
Pinhole Camera
Cata Camera
Equidistant Camera
Scaramuzza Camera Model
Polynomial Fisheye Camera
This is my camera model
Fov Camera
#Install
To use this package, need:
- Eigen3
- ROS, almost use indigo version.
- Ceres Solver
Use intrinsic_calib.cc to calibrate your camera. The template is like fisheye_calibration.sh:
./Calibration --camera-name mycamera --input mycameara_images/ -p IMG -e png -w 11 -h 8 --size 70 --camera-model myfisheye --opencv true
Two main files for you to use camera model: Camera.h and CameraFactory.h. ##1.load in the camera model calibration file Use function in CameraFactory.h to load in the camra calibration file:
#include <camera_model/camera_models/CameraFactory.h>
camera_model::CameraPtr cam;
void loadCameraFile(std::string camera_model_file)
{
cam = camera_model::CameraFactory::instance()->generateCameraFromYamlFile(camera_model_file);
}##2.projection and back-projection point See Camera.h for general interface:
Projection (3D ---> 2D) function: spaceToPlane :Projects 3D points to the image plane (Pi function)
#include <camera_model/camera_models/CameraFactory.h>
camera_model::CameraPtr cam;
void loadCameraFile(std::string camera_model_file)
{
cam = camera_model::CameraFactory::instance()->generateCameraFromYamlFile(camera_model_file);
}
void useProjection(Eigen::Vector3d P)
{
Eigen::Vector2d p_dst;
cam->spaceToPlane(P, p_dst);
}Back Projection (2D ---> 3D) function: liftSphere: Lift points from the image plane to the projective space.
#include <camera_model/camera_models/CameraFactory.h>
camera_model::CameraPtr cam;
void loadCameraFile(std::string camera_model_file)
{
cam = camera_model::CameraFactory::instance()->generateCameraFromYamlFile(camera_model_file);
}
void useProjection(Eigen::Vector3d P)
{
Eigen::Vector2d p_dst;
cam->spaceToPlane(P, p_dst);
}
void useBackProjection(Eigen::Vector2d p)
{
Eigen::Vector3d P_dst;
cam->liftSphere(p, P_dst);
}
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