相机标定内外参求解

Posted 2022-12-09 yantuguiguziPGJ

1.理论

 2D坐标系与3D坐标系的相互转换--python实现_cuihaoren01的博客-CSDN博客_二维点映射到三维

(164条消息) 基础矩阵，本质矩阵，单应性矩阵讲解_Being_young的博客-CSDN博客

(164条消息) Ceres详解（一） Problem类_yuntian_li的博客-CSDN博客_addresidualblock

​2.实践

opencv/fisheye.hpp at 4.x · opencv/opencv · GitHub
opencv/apps/interactive-calibration at 4.x · opencv/opencv · GitHub

相机位姿估计3：根据两幅图像的位姿估计结果求某点的世界坐标 - V·Shawn - 博客园 (cnblogs.com)
Fork VShawn/Shawn_pose_estimation_by_opencv (github.com)

https://eigen.tuxfamily.org/dox/AsciiQuickReference.txt

Armadillo: C++ library for linear algebra & scientific computing - API Documentation (sourceforge.net)

SLAM本质剖析-G2O - 古月居
从零开始学SLAM: Ceres/G2O求解优化问题 - 代码先锋网

qxiaofan/awesome-slambook2: 主要是在高博的《视觉SLAM十四讲》提供的实践代码基础上，加入一些自己平时会用到的代码。 (github.com)
https://github.com/Keyran-H/camera-calibration
https://github.com/ceres-solver/ceres-solver/blob/master/examples/libmv_bundle_adjuster.cc

vcpkg: vcpkg国内镜像

计算机视觉life团队注释的中文代码

链接：https://www.zhihu.com/question/536465868/answer/2555802704

ORB-SLAM2注释代码：https://github.com/electech6/ORB_SLAM2_detailed_comments

ORB-SLAM3注释代码：https://github.com/electech6/ORB_SLAM3_detailed_comments

Cartographer注释代码：https://github.com/xiangli0608/cartographer_detailed_comments_ws

VINS-Mono注释代码：https://github.com/xieqi1/VINS-Mono-noted

VINS-Fusion注释代码：https://github.com/xieqi1/VINS-Fusion-noted

几何三维重建注释代码：https://github.com/electech6/openMVS_comments

ALOAM注释代码：https://github.com/xieqi1/a-loam-noted

LIO-SAM注释代码：https://github.com/xieqi1/lio-sam-noted

LVI-SAM注释代码：https://github.com/electech6/LVI-SAM_detailed_comments

机器人运动规划注释代码：https://github.com/felderstehost/ros-navigation-noetic