1. Camera calibration principle In-depth science popularization: understand camera calibration in one article – Zhihu (zhihu.com) 2. Install the camera calibration package and start calibration Now we know that the purpose of calibrating the camera is to obtain the internal parameter matrix and distortion coefficient, and to obtain the internal parameter matrix and distortion coefficient […]
Tag: calibration
Camera calibration and 3D reconstruction – interactive camera calibration application OpenCV v4.8.0
Previous tutorial: Real-time pose estimation of textured objects Original author Vladislav Sovrasov Compatibility OpenCV >= 3.1 According to the classic calibration technique, the user must first collect all data and then run the cv::calibrateCamera function to obtain the camera parameters. If the average reprojection error is large, or the estimated parameters appear to be wrong, […]
Calibration and integration of imu’s stationary bias noise
The Imu used in the example is Lunqu Technology n100 mini. The coordinate system of the data output by imu is based on the ROS coordinate system. Eigen::Quaterniond q_ahrs(ahrs_frame_.frame.data.data_pack.Qw, ahrs_frame_.frame.data.data_pack.Qx, ahrs_frame_.frame.data.data_pack.Qy, ahrs_frame_.frame.data.data_pack.Qz); Eigen::Quaterniond q_r = Eigen::AngleAxisd(PI, Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(PI, Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(0.00000, Eigen::Vector3d::UnitX()); Eigen::Quaterniond q_rr = Eigen::AngleAxisd(0.00000, Eigen::Vector3d::UnitZ()) * Eigen::AngleAxisd(0.00000, Eigen::Vector3d::UnitY()) * Eigen::AngleAxisd(PI, Eigen::Vector3d::UnitX()); Eigen::Quaterniond […]
Camera calibration and 3D reconstruction 2
Directory epipolar geometry basic concepts Drawing process and code of polar lines Depth map of stereoscopic image Base Create disparity map using OpenCV OpenCV generation of disparity map and its 3D reconstruction Epipolar geometry Basic concepts When an image is taken using a pinhole camera, important information is lost, namely the depth of the image; […]
The second step of YOLOV7 quantification: model calibration
2. Model calibration Of course, calibration in model quantification is a key process. It mainly ensures that the accuracy of the model is not significantly compromised while reducing the calculation accuracy to reduce the model size and increase the inference speed. Now I will explain the process based on the steps you provided. 1. Collect […]
Configuration and calibration of Postgres statistics
For most relational databases, one of the core components is the optimizer. The optimizer generates SQL execution plans that rely on statistical information, that is, the details of the data distribution in the table. Generally speaking, the optimizer selects execution based on statistical information. There will be no problems with the planned algorithm itself (except […]
10. Calibration method of laser radar to external parameters of vehicle body coordinate system (lidar2car)
Directory 0. Papers and code 1. Calibration principle 2. Fitting plane 3. Calibrate roll/pitch/height 4. Calibrate yaw 4.1 Understand the vehicle heading obtained from the trajectory fitted by B_spline 5. Accuracy 0. Papers and code Reference paper: SensorX2car: Sensors-to-car calibration for autonomous driving in road scenarios Reference code: lidar2car 1. Calibration principle ① When the […]
Inovance robot + five-point method calibration for conventional pallet palletizing
1. Requirements and hardware From my personal point of view, palletizing and depalletizing are essentially the same. Stacking products on the assembly line neatly into pallets according to rules is called palletizing. Taking materials from pallets with neatly arranged materials and putting them on the assembly line is called depalletizing. Picking and placing operations are […]
Camera calibration OpenCV-Python v4.7.0
Goals In this section we will learn about Types of distortion caused by cameras How to Find the Intrinsic and Extrinsic Characteristics of a Camera How to remove image distortion based on these characteristics Basics Some pinhole cameras produce significant distortion in the image. Radial distortion and tangential distortion are the two main types of […]
Binocular camera calibration and stereo ranging principles
Foreword Binocular camera calibration and stereo ranging principles 1. Camera calibration The goal of monocular camera calibration is to obtain the intrinsic and extrinsic parameters of the camera. The intrinsic parameters (1/dx, 1/dy, Cx, Cy, f) represent the internal structural parameters of the camera, and the extrinsic parameters are the rotation matrix R and translation […]