matlab拟合平面代码-camera-imu-calib:针对MODD2数据集的快速有效的Camera-IMU校准

上传者: 38626473 | 上传时间: 2021-09-18 13:51:13 | 文件大小: 9.73MB | 文件类型: ZIP
matlab拟合平面代码快速StereoCamera-IMU校准 用Matlab编写的针对MODD2数据集的快速有效的StereoCamera-IMU校准。 (第3.3节) 要求:具有OpenCV3.0 +库的Matlab2016a + 有两个主要功能: getGroundPlane和getVanishingPoints getGroundPlane: 此功能使飞机适合于USV前方的地面点,并读取机载IMU提供的初始旋转。 由此,我们可以获得两个旋转矩阵(1)R_ {CAM} ^ {USV}(从摄像机坐标系到USV坐标系的旋转)和(2)R_ {IMU} ^ {USV}(从IMU坐标旋转到USV坐标系)。 getVanishingPoints: 此功能读取IMU的当前测量值。 基于此测量值(和R_ {IMU} ^ {USV}),它将IMU坐标系中定义的无穷大点旋转到世界坐标系。 通过将所选点从世界坐标投影到摄影机平面,我们可以获取水平线的大致位置。 运行演示 要运行示例校准,只需调用demo_calibration.m脚本。 该脚本需要两个输入参数:(1)MODD2数据集根目录的路径和(

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