相机标定

创建一个标定板，运行后会在当前目录创建一个名为board_charuco_d6.png的图片(已经内置在Modules/object_detection/shell/board_charuco_d6.png)，使用A4进行打印

./Modules/object_detection/shell/create_board_charuco.sh

board_charuco_d6.png

运行标定程序，程序会读取相机id为0的画面，根据画面提示，按c键添加标定图像(建议添加20张以上)，然后按esc键程序开始根据获取到图像进行相机内参计算(画面会卡住，此时正在计算)，等待计算完成

./Modules/object_detection/shell/calibrate_camera_charuco_cam0.sh

将生成的文件重命名为calib_webcam_640x480.yaml替换掉Modules/object_detection/shell/calib_webcam_640x480.yaml中的文件

使用方式可以参考Modules/object_detection/launch/aruco_det.launch文件对标定参数的使用

对于create_board_charuco中参数含义如下

"{w        |       | Number of squares in X direction }"
"{h        |       | Number of squares in Y direction }"
"{sl       |       | Square side length (in meters) }"
"{ml       |       | Marker side length (in meters) }"
"{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"
"DICT_7X7_100=13, DICT_7X7_250=14, DICT_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16}"
"{@outfile |<none> | Output file with calibrated camera parameters }"
"{v        |       | Input from video file, if ommited, input comes from camera }"
"{ci       | 0     | Camera id if input doesnt come from video (-v) }"
"{dp       |       | File of marker detector parameters }"
"{rs       | false | Apply refind strategy }"
"{zt       | false | Assume zero tangential distortion }"
"{a        |       | Fix aspect ratio (fx/fy) to this value }"
"{pc       | false | Fix the principal point at the center }"
"{sc       | false | Show detected chessboard corners after calibration }"
"{cw       |       | (MIPI parameter) Camera width }"
"{ch       |       | (MIPI parameter) Camera height }"
"{dw       |       | (MIPI parameter) Display width }"
"{dh       |       | (MIPI parameter) Display height }"
"{fr       |       | (MIPI parameter) Framerate }"
"{fm       |       | (MIPI parameter) Flip method }";