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Files

This branch is up to date with castiel520/VINS-Mono:master.

camera_model

part of camodocal

Google Ceres is needed.

Calibration:

Use intrinsic_calib.cc to calibrate your camera.

Undistortion:

See Camera.h for general interface:

  • liftProjective: Lift points from the image plane to the projective space.
  • spaceToPlane: Projects 3D points to the image plane (Pi function)