Comments (7)
您好,我看到ArduCam的github上有很多相机和平台方案, Q1:请问您的论文中使用的哪一套方案呢? Q2:我们也使用了NVIDIA NX作为机载电脑,是不是需要如下硬件连接(arduino板子作中继和硬件时间同步): Cams->arduino_board->NX Q3:关于相机校准,之前使用realsense D435系列一般都用默认相机参数,比自己校准的还精确。另外,我们之前对USB相机校准,发现自己标定也不准确,使用过matlab Calib工具箱(各个角度拍五十多幅图像),也使用过Eth的Kalibr工具(按照youtube的运动无人机录制rosbag),请问您使用什么方式标定,可以给我一些建议吗?非常感谢。
Q1:我们使用的方案目前好像已经停产,目前能找到的替代方案为 Arducam_QuadCam, 我们最近注意到了OAK 的四目开源方案,正在进行调研OAK-FFC-4P
Q2: 相机直接通过MIPI连接到Xavier NX 即可(载板有MIPI接口支持 型号为A203 A203 )
Q3:关于Realsense 的内参标定,使用出厂设置一般不会有问题,自己标定的时候,尽量使用april_6x6进行标定,会更加准确,对于一般的pinhole 相机,使用kalibr [是足够的,对于多目的鱼眼相机,TartanCalibr TartanCalibr 或许会是一个更合适的选择,我们正在进行一些标定经验的总结,后面会发布视频在youtube 和 bilibili频道上,请稍作等待
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你好,是同步的
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你好,你们采用的是硬件同步吗?
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我们使用的arducam 的四目方案,是四个全局快门的相机,拥有硬件同步触发机制,但是硬件本身处理有时间延迟,最近正在找替代方案
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感谢你的回复
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您好,我看到ArduCam的github上有很多相机和平台方案,
Q1:请问您的论文中使用的哪一套方案呢?
Q2:我们也使用了NVIDIA NX作为机载电脑,是不是需要如下硬件连接(arduino板子作中继和硬件时间同步): Cams->arduino_board->NX
Q3:关于相机校准,之前使用realsense D435系列一般都用默认相机参数,比自己校准的还精确。另外,我们之前对USB相机校准,发现自己标定也不准确,使用过matlab Calib工具箱(各个角度拍五十多幅图像),也使用过Eth的Kalibr工具(按照youtube的运动无人机录制rosbag),请问您使用什么方式标定,可以给我一些建议吗?非常感谢。
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@Peize-Liu 非常感激您的答复,我正在购买Arducam_QuadCam套装,并 期待您的标定经验总结早日发布!
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Related Issues (20)
- Failed to replace the workspace in Docker
- 使用情况询问 HOT 1
- 数据集轨迹漂移问题 HOT 2
- GPU not supported after building the image HOT 1
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- 段错误 (对于映射对象的权限无效 [0x242ff4000]) HOT 1
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- 地图可视化 HOT 1
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