光度标定原理详见:
一、项目地址
https://github.com/tum-vision/mono_dataset_code
对应论文《A Photometrically Calibrated Benchmark For Monocular Visual Odometry》
二、安装
1.下载源码
git clone https://github.com/tum-vision/mono_dataset_code.git
2.安装Eigen和OpenCV
sudo apt-get install libeigen3-dev libopencv-dev
3.安装zip文件解析库
sudo apt-get install zlib1g-dev
cd mono_dataset_code/thirdparty
tar -zxvf libzip-1.1.1.tar.gz
cd libzip-1.1.1/
./configure
make
sudo make install
sudo cp lib/zipconf.h /usr/local/include/zipconf.h # (no idea why that is needed).
4.安装aruco marker dection ,用来标定渐晕
安装教程转自(科学上网):http://maztories.blogspot.de/2013/07/installing-aruco-augmented-reality.html
cd mono_dataset_code/thirdparty
tar -zxvf aruco-1.3.0.tar.gz
cd aruco-1.3.0/
mkdir build
cd build
cmake ..
make
sudo make install
5.编译主程序
cd mono_dataset_code
cmake . && make
三、准备数据
所需数据格式参考 src/BenchmarkDatasetReader.h
相机参数文件格式参考 src/