{"id":11067,"date":"2021-06-17T09:58:00","date_gmt":"2021-06-17T01:58:00","guid":{"rendered":"http:\/\/www.circuspi.com\/?p=11067"},"modified":"2022-08-02T17:34:02","modified_gmt":"2022-08-02T09:34:02","slug":"duckietown-duckiebot-db21m-part4","status":"publish","type":"post","link":"https:\/\/www.circuspi.com\/index.php\/2021\/06\/17\/duckietown-duckiebot-db21m-part4\/","title":{"rendered":"Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u56db) &#8211; Camera Calibration \u76f8\u6a5f\u6821\u6b63"},"content":{"rendered":"\n<p><style>\n\/* ###\u5be6\u9a57\u4e0b\u4e00\u5217### *\/\n\na:link {color:#0695e4\n;}    \/* \u8a2d\u5b9a\u5c1a\u672a\u9ede\u95b1\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\na:visited {color:#0695e4\n;} \/* \u8a2d\u5b9a\u904e\u53bb\u66fe\u7d93\u95b1\u904e\u7684\u9023\u7d50 *\/\na:hover {color:#0695e4\n;}   \/* \u8a2d\u5b9a\u6ed1\u9f20\u6e38\u6a19\u6307\u5728\u9023\u7d50\u4f4d\u7f6e\u4e0a\u7684\u6a23\u5f0f *\/\na:active {color:#0000BB;}  \/* \u8a2d\u5b9a\u4e0a\u9ede\u64ca\u904e\u7684\u9023\u7d50\u6a23\u5f0f *\/\n<\/style><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1501\" height=\"790\" src=\"https:\/\/www.circuspi.com\/wp-content\/uploads\/2021\/06\/V1LINE_\u5de5\u4f5c\u5340\u57df-1-\u8907\u672c.jpg\" alt=\"DB21M-4\" class=\"wp-image-11807\"\/><figcaption>DB21M-4<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u958b\u59cb\u672c\u7bc7\u6587\u7ae0\u4e4b\u524d\uff0c\u63a8\u85a6\u5404\u4f4d\u53ef\u4ee5\u5148\u95b1\u8b80\u4ee5\u4e0bDuckietown \u7cfb\u5217\u7684\u6587\u7ae0 :<\/p>\n\n\n\n<ul><li><a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\"><strong>Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/strong><\/a><\/li><li><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\"><strong>Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/strong><\/a><\/li><li><a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/05\/19\/duckietown-duckiebot-db21m-part2\/\" target=\"_blank\"><strong>Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e8c) \u2013 differential drive configuration\u7684\u4f7f\u7528<\/strong><\/a><\/li><li><strong><a href=\"https:\/\/www.circuspi.com\/index.php\/2021\/06\/16\/duckietown-db21m-part3\/\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e09) \u2013 PID controller \u7684\u4f7f\u7528<\/a><\/strong><\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u524d\u8a00<\/h2>\n\n\n\n<p>\u5728\u4e0a\u4e00\u7bc7\u6587\u7ae0\u300c<mark>Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e09) \u2013 PID controller \u7684\u4f7f\u7528<\/mark>\u300d\u4e2d\uff0c\u6211\u5011\u4e86\u89e3\u5230 PID \u63a7\u5236\u5668\u7684\u904b\u4f5c\u65b9\u6cd5\u3002\u800c\u70ba\u4e86\u5c07\u5916\u90e8\u74b0\u5883\u8cc7\u8a0a\u5c0e\u5165\u81f3 PID \u63a7\u5236\u5668\u4e2d\uff0c\u6211\u5011\u9700\u8981\u900f\u904e\u611f\u6e2c\u5668\u4f86\u611f\u77e5\u5916\u90e8\u74b0\u5883\u3002\u5728 Duckiebot DB21M (\u4ee5\u4e0b\u7c21\u7a31\u5c0f\u9d28\u8eca) \u4e0a\uff0c\u4e3b\u8981\u7528\u4f86\u6aa2\u6e2c\u5916\u90e8\u74b0\u5883\u7684\u8cc7\u8a0a\u7684\u611f\u6e2c\u5668\u70ba &#8211; \u76f8\u6a5f\u3002<\/p>\n\n\n\n<p>\u5728\u5c0f\u9d28\u8eca\u4e0a\u6240\u4f7f\u7528\u7684\u76f8\u6a5f\u662f <a href=\"https:\/\/www.icshop.com.tw\/product-page.php?27435\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">IMX219-160 Camera<\/a> \uff0c\u5177\u6709 160\u5ea6\u5ee3\u89d2\u7684\u8996\u91ce\uff0c\u56e0\u6b64\u53ef\u8b93\u5c0f\u9d28\u8eca\u770b\u5230\u76f8\u5c0d\u8f03\u5ee3\u7684\u74b0\u5883\u3002<\/p>\n\n\n\n<p>\u4f46\u4e5f\u56e0\u70ba\u5ee3\u89d2\u7684\u539f\u56e0\uff0c\u6703\u8b93\u76f8\u6a5f\u5728\u6210\u50cf\u6642\uff0c\u7522\u751f\u5716\u50cf\u5931\u771f\u7684\u7279\u6027\uff0c\u9019\u6703\u8b93\u5c0f\u9d28\u8eca\u5728\u64f7\u53d6\u5916\u90e8\u74b0\u5883\u8cc7\u8a0a\u6642\uff0c\u64f7\u53d6\u5230\u932f\u8aa4\u7684\u8cc7\u8a0a\uff0c\u4f8b\u5982\u5be6\u969b\u4e0a\u5c0f\u9d28\u8eca\u96e2\u5de6\u908a\u7684\u9ec3\u7dda\u50c5\u6709 2 \u516c\u5206\uff0c\u4f46\u5f71\u50cf\u5728\u7d93\u904e\u9b5a\u773c\u93e1\u982d\u6642\uff0c\u537b\u56e0\u70ba\u5931\u771f\u6548\u679c\uff0c\u8b93\u5c0f\u9d28\u8eca\u64f7\u53d6\u5230\u7684\u5f71\u50cf\u8cc7\u8a0a\u70ba\u300c\u96e2\u5de6\u908a\u9ec3\u7dda\u6709 2.5 \u516c\u5206\u300d\uff0c\u5982\u679c\u5c07\u932f\u8aa4\u7684\u5916\u90e8\u74b0\u5883\u8cc7\u8a0a\u8f38\u5165\u81f3 PID \u63a7\u5236\u5668\u6642\uff0c\u5c07\u6703\u5c0e\u81f4 PID\u63a7\u5236\u5668\u4e0b\u9054\u932f\u8aa4\u7684\u6307\u4ee4\u7d66\u4e88\u5c0f\u9d28\u8eca\uff0c\u8b93\u5c0f\u9d28\u8eca\u9010\u6f38\u5931\u53bb\u63a7\u5236\u3002\u95dc\u65bc\u93e1\u982d\u6210\u50cf\u7684\u539f\u7406\u8207\u5931\u771f\u7684\u6821\u6b63\u65b9\u6cd5\u63a8\u5c0e\uff0c\u4ee5\u53ca\u5f8c\u7e8c\u6587\u7ae0\u63d0\u53ca\u7684\u5404\u7a2e\u53c3\u6578\uff0c\u53ef\u81f3 <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/www.edx.org\/new\/course\/self-driving-cars-with-duckietown\" target=\"_blank\">duckietown \u7684 mooc<\/a>&nbsp;\u4e2d\u7684\u8ab2\u7a0b\u55ae\u5143 &#8211; \u300cRobot Vision\u300d\u67e5\u8a62\u3002<\/p>\n\n\n\n<p>\u70ba\u4e86\u964d\u4f4e\u5931\u771f\u5e36\u4f86\u7684\u5f71\u97ff\uff0c\u6211\u5011\u4fbf\u9700\u8981\u4f7f\u7528\u300c\u76f8\u6a5f\u6821\u6b63\u300d\u7684\u64cd\u4f5c\u3002\u63a5\u4e0b\u4f86\uff0c\u6211\u5011\u5c07\u5728\u5c0f\u9d28\u8eca\u4e0a\u9032\u884c\u300c\u76f8\u6a5f\u6821\u6b63\u300d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u76f8\u6a5f\u6821\u6b63\u6982\u5ff5 &#8211; \u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u8207\u5b9a\u5411\u6821\u6b63&nbsp;<\/h2>\n\n\n\n<p>\u70ba\u4e86\u8b93\u76f8\u6a5f\u64f7\u53d6\u5230\u7684\u8cc7\u8a0a\u8207\u5be6\u969b\u4e0a\u7684\u8cc7\u8a0a\u76f8\u5dee\u7121\u5e7e\uff0c\u6211\u5011\u6703\u9700\u8981\u4f7f\u7528\u5230\u76f8\u6a5f\u6210\u50cf\u7684\u6578\u5b78\u6a21\u578b &#8211; \u91dd\u5b54\u6210\u50cf\u6a21\u578b(Pinhole camera model)\uff0c\u9019\u500b\u6a21\u578b\u63cf\u8ff0\u4e86\u5982\u4f55\u900f\u904e\u76f8\u6a5f\u53c3\u8003\u7cfb( reference frame )\u7684\u5ea7\u6a19\u9ede\u8f49\u63db\u8207\u627e\u51fa\u6295\u5f71\u5728\u6210\u50cf\u5716\u7247\u4e0a\u7684\u6295\u5f71\u9ede\uff0c\u4f86\u6558\u8ff0\u771f\u5be6\u4e16\u754c\u7684\u5ea7\u6a19\u9ede\u8207\u6210\u50cf\u5716\u7247\u7684\u5ea7\u6a19\u9ede\u95dc\u4fc2\u3002\u70ba\u4e86\u4f7f\u7528\u91dd\u5b54\u6210\u50cf\u6a21\u578b\uff0c\u6211\u5011\u5fc5\u9808\u8981\u627e\u5230\u4e00\u4e9b\u53c3\u6578\uff0c\u50cf\u662f\u7126\u8ddd\u3001\u76f8\u6a5f\u7684\u50be\u659c\u7a0b\u5ea6\u4ee5\u53ca\u76f8\u6a5f\u76f8\u5c0d\u65bc\u771f\u5be6\u4e16\u754c\u7684\u59ff\u614b(pose)\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\u6211\u5011\u6703\u9700\u8981\u5169\u7a2e\u6821\u6b63\u65b9\u6cd5\u4f86\u627e\u51fa\u76f8\u95dc\u53c3\u6578:<\/p>\n\n\n\n<ol><li><strong>\u76f8\u6a5f\u672c\u8eab\u6821\u6b63(intrinsic calibration\uff0c\u6216\u7a31\u5167\u90e8\u6821\u6b63)<\/strong><\/li><li><strong>\u5b9a\u5411\u6821\u6b63(extrinsic calibration\uff0c\u6216\u7a31\u5916\u90e8\u6821\u6b63)\u3002<\/strong><\/li><\/ol>\n\n\n\n<p><strong>\u76f8\u6a5f\u672c\u8eab\u6821\u6b63<\/strong>\uff1a\u662f\u70ba\u4e86\u627e\u51fa\u95dc\u65bc\u76f8\u6a5f\u672c\u8eab\u7684\u53c3\u6578\uff0c\u70ba\u4e86\u9054\u6210\u9019\u500b\u76ee\u7684\uff0c\u6211\u5011\u9700\u8981\u4e00\u500b\u8f14\u52a9\u7528\u7684\u6821\u6b63\u6587\u4ef6 &#8211; <a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/github.com\/duckietown\/Software\/blob\/master18\/catkin_ws\/src\/00-infrastructure\/duckietown\/config\/baseline\/calibration\/camera_intrinsic\/calibration_pattern.pdf\" target=\"_blank\">\u68cb\u76e4\u683c<\/a>\u3002\u5728 <a rel=\"noreferrer noopener\" aria-label=\"duckietown (opens in a new tab)\" href=\"https:\/\/www.duckietown.org\/\" target=\"_blank\">Duckietown<\/a> \u4e2d\uff0c\u6821\u6b63\u7528\u7684\u68cb\u76e4\u683c\u662f\u4ee5 A3\u5927\u5c0f\u30017&#215;5 \u4ea4\u53c9\u9ede\u7684\u68cb\u76e4\u683c\uff0c\u4e26\u4e14\u6bcf\u500b\u9ed1\u3001\u767d\u683c\u7684\u908a\u9577\u9577\u5ea6\u70ba 31 mm \u6240\u5f62\u6210\u7684\u3002\u5728\u76f8\u6a5f\u6821\u6b63\u4e2d\u8981\u7279\u5225\u6ce8\u610f\u7684\u662f\uff0c\u6821\u6b63\u7528\u7684\u68cb\u76e4\u683c\u4e26\u4e0d\u662f\u770b\u68cb\u76e4\u683c\u7684\u6578\u91cf\uff0c\u800c\u662f<strong>\u4ea4\u53c9\u9ede\u7684\u6578\u91cf<\/strong>(\u5982\u4e0b\u5716\u4e2d\u7684\u7d05\u5708\u6240\u793a)\u3002\u7576\u7136\uff0c\u68cb\u76e4\u683c\u7684\u4ea4\u53c9\u9ede\u6578\u91cf\u8207\u9ed1\u3001\u767d\u683c\u9577\u5ea6\u4e26\u4e0d\u662f\u56fa\u5b9a\u7684\uff0c\u662f\u53ef\u4ee5\u6839\u64da\u7cfb\u7d71\u8a2d\u5b9a\u53bb\u505a\u4fee\u6b63\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/wIKoYEuhyZFru3BbslucxXFpwl0bF9PcdD8cWZjeNyfXi-oI0AE0PtlZG8HQCzVq_dhoFmPgVKHbWaruz-XDdfKf_b-jHbOCGkWIAjq3GUnvJ0UfTNAEFEZlWjRoVAXZlePhiWwB\" alt=\"\" width=\"669\" height=\"865\"\/><figcaption>\u68cb\u76e4\u683c<\/figcaption><\/figure><\/div>\n\n\n\n<p><strong>\u5b9a\u5411\u6821\u6b63<\/strong>\uff1a\u662f\u70ba\u4e86\u627e\u51fa\u76f8\u6a5f\u6210\u50cf\u6642\u8207\u771f\u5be6\u4e16\u754c\u7684\u76f8\u5c0d\u95dc\u4fc2\uff0c\u4f8b\u5982\u5728\u5c0f\u9d28\u8eca\u4e2d\uff0c\u76f8\u6a5f\u64f7\u53d6\u5230\u7684\u5f71\u50cf\u4e0a\u65b9\uff0c\u5728\u771f\u5be6\u4e16\u754c\u4e2d\u5c31\u662f\u96e2\u5c0f\u9d28\u8eca\u76f8\u5c0d\u8f03\u9060\u7684\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u900f\u904e\u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u8207\u5b9a\u5411\u6821\u6b63\uff0c\u6211\u5011\u4fbf\u53ef\u4ee5\u5c07\u91dd\u5b54\u6210\u50cf\u6a21\u578b\u6240\u9700\u7684\u5404\u9805\u53c3\u6578\uff0c\u4f9d\u64da\u5be6\u969b\u4f7f\u7528\u7684\u76f8\u6a5f\u800c\u91cf\u8eab\u8a02\u88fd\uff0c\u8b93\u6211\u5011\u5728\u4f7f\u7528\u5404\u7a2e\u4e0d\u540c\u76f8\u6a5f\u6642\uff0c\u76f8\u6a5f\u6240\u64f7\u53d6\u5230\u7684\u8cc7\u8a0a\u7686\u6703\u8207\u5be6\u969b\u72c0\u6cc1\u76f8\u5dee\u7121\u5e7e\u3002\u5728\u6709\u4e86\u76f8\u6a5f\u6821\u6b63\u7684\u57fa\u672c\u6982\u5ff5\u5f8c\uff0c\u63a5\u4e0b\u4f86\u6211\u5011\u5c07\u958b\u59cb\u5be6\u969b\u64cd\u4f5c\u56c9\uff01<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u64cd\u4f5c\u74b0\u5883\u9700\u6c42<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. Duckietown \u7684\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a<\/h3>\n\n\n\n<p>\u5728\u958b\u59cb\u4e4b\u524d\u53ef\u5148\u53c3\u7167\u300c<a rel=\"noreferrer noopener\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/03\/04\/duckiebot_db21m\/\" target=\"_blank\">Duckietown \u2013 Duckiebot DB21M \u5c0f\u9d28\u8eca\u5c08\u6848 Jetson-Nano \u7248\u5e73\u53f0\u7d44\u88dd\u8207\u64cd\u4f5c\u74b0\u5883\u8a2d\u5b9a\u4ecb\u7d39<\/a>\u300d\u6587\u7ae0\u4e2d\u300c\u516d\u3001\u6e2c\u8a66\u5c0f\u9d28\u8eca\u300d\u7684\u6b65\u9a5f\u555f\u52d5\u5c0f\u9d28\u8eca\uff1b\u5728\u642d\u914d\u300c<a rel=\"noreferrer noopener\" href=\"https:\/\/www.circuspi.com\/index.php\/2021\/04\/21\/duckietown-%e5%b0%88%e6%a1%88-duckiebot-db21m-%e5%9f%ba%e7%a4%8e%e6%93%8d%e4%bd%9c%e4%b8%80\/\" target=\"_blank\">Duckietown \u5c08\u6848 \u2013 Duckiebot DB21M \u57fa\u790e\u64cd\u4f5c(\u4e00)<\/a>\u300d\u7684\u5167\u5bb9\uff0c\u9032\u884c\u64cd\u4f5c\u74b0\u5883\u7684\u8a2d\u5b9a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u7a0b\u5f0f\u78bc\u4f86\u6e90<\/h3>\n\n\n\n<p>\u5229\u7528 <a href=\"https:\/\/github.com\/duckietown\/duckietown-shell-commands\/tree\/daffy\/duckiebot\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">duckietown-shell<\/a> \u7684\u7a0b\u5f0f\u78bc\uff0c\u4fbf\u53ef\u4ee5\u5feb\u901f\u555f\u7528\u76f8\u6a5f\u6821\u6b63\u7684\u7a0b\u5f0f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3. \u6e96\u5099 dcukiebot<\/strong><\/h3>\n\n\n\n<p>\u78ba\u8a8d\u5c0f\u9d28\u8eca\u80fd\u5920\u6b63\u5e38\u904b\u4f5c\uff0c\u4e26\u4e14\u5728\u64cd\u4f5c\u4e3b\u6a5f\u4e2d\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\uff0c\u4fbf\u53ef\u641c\u5c0b\u5230\u81ea\u5df1\u7684\u5c0f\u9d28\u8eca\u3002\u4ee5\u672c\u7bc7\u6587\u7ae0\u70ba\u4f8b\uff0c\u53ef\u4ee5\u641c\u5c0b\u5230 hostname \u70ba <strong>edu <\/strong>\u7684\u6a5f\u5668\u3002<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts fleet discover<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/AxBkjxKcsVJcFmsDTJPBP6WOJqGe7C2zJTAEq0F_GnCGA7IPTsPaVfvgmA14T2mGCPkA-RgsQDDpV8In9FfTrcxxwR5MzrOo-uJmzBeg_pHGpD1f3Ndi4byW3-ZaU_M7Tc4Q22gd\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u78ba\u8a8d\u5c0f\u9d28\u8eca\u53ef\u4ee5\u88ab\u641c\u5c0b\u5230\u5f8c\uff0c\u8acb\u5728 Terminal \u8996\u7a97\u4e2d\u6309\u4e0b\u3010ctrl\u3011+\u3010c\u3011\u6309\u9375\uff0c\u53d6\u6d88\u57f7\u884c\u4e2d\u7684\u7a0b\u5f0f\u3002\u63a5\u8457\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\u66f4\u65b0\u5c0f\u9d28\u8eca\u7684 Docker \u6620\u50cf\u6a94\u3002<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts duckiebot update hostname<\/span><\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-style-large\"><p><strong>\u8acb\u6ce8\u610f\uff0c\u6307\u4ee4\u4e2d\u7684 hostname \u6307\u7684\u662f\u5c0f\u9d28\u8eca\u4e0a\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\u3002\u4ee5\u672c\u7bc7\u6587\u7ae0\u70ba\u4f8b\uff0chostname \u70ba edu\u3002<\/strong><\/p><\/blockquote>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/rQYeB6t3ZI4d5ixBB8igso-1GVgRbAfSV_GOIuTYLrfRlIzcn_ErycqCakogQ7eUieIg4ZeiwOW95or3smMrrhuWfTtGCXr9qBo4_4vG_aYE6W0E1ZcL4OUDAOuDOgWSjB6DCrMI\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u6e96\u5099\u68cb\u76e4\u683c\u8207\u5730\u5716<\/h3>\n\n\n\n<p>\u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u6240\u9700\u8981\u7684<a rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\" href=\"https:\/\/github.com\/duckietown\/Software\/blob\/master18\/catkin_ws\/src\/00-infrastructure\/duckietown\/config\/baseline\/calibration\/camera_intrinsic\/calibration_pattern.pdf\" target=\"_blank\">\u68cb\u76e4\u683c<\/a>\u4e0b\u8f09\u4f4d\u7f6e\u53ef\u5728 <a rel=\"noreferrer noopener\" aria-label=\"duckietown (opens in a new tab)\" href=\"https:\/\/www.duckietown.org\/\" target=\"_blank\">duckietown<\/a> \u7684 <a rel=\"noreferrer noopener\" aria-label=\"github (opens in a new tab)\" href=\"https:\/\/github.com\/duckietown\" target=\"_blank\">github<\/a> \u4e2d\u627e\u5230\u3002\u4f7f\u7528\u5370\u8868\u6a5f\u5217\u5370\u51fa\u5f8c\uff0c\u53ef\u5c07\u5176\u9ecf\u8cbc\u5230\u4e00\u500b\u56fa\u5b9a\u8868\u9762\uff0c\u6216\u653e\u7f6e\u5728\u5e73\u7a69\u7684\u5730\u9762\uff0c\u56e0\u6821\u6b63\u6642\u68cb\u76e4\u683c\u7d19\u5f35\u672c\u8eab\u4e0d\u80fd\u6709\u4efb\u4f55\u626d\u66f2\u7684\u73fe\u8c61\u767c\u751f\uff0c\u907f\u514d\u627e\u5c0b\u5230\u7684\u76f8\u6a5f\u6821\u6b63\u53c3\u6578\u8207\u5be6\u969b\u72c0\u6cc1\u6709\u7570\u3002<\/p>\n\n\n\n<p>\u5b9a\u5411\u6821\u6b63\u9664\u4e86\u68cb\u76e4\u683c\u4e4b\u5916\uff0c\u70ba\u4e86\u8b93\u5b9a\u5411\u6821\u6b63\u66f4\u6e96\u78ba\uff0c\u9084\u9700\u8981\u6e96\u5099\u6b32\u884c\u9032\u7684\u7dda\u9053\u8def\u7dda\u5716\u4e2d\u7684\u4e00\u5c0f\u90e8\u5206\u3002\u4ee5\u672c\u7bc7\u6587\u7ae0\u70ba\u4f8b\uff0c\u6e96\u5099\u7684\u662f\u4e00\u5c0f\u90e8\u5206\u7684\u76f4\u7dda\u9053\u8def\uff0c\u76f8\u95dc\u7684\u7dda\u9053\u8a2d\u8a08\u898f\u5247\uff0c\u53ef\u4ee5\u53c3\u7167 \u300c<a href=\"https:\/\/docs.duckietown.org\/daffy\/opmanual_duckietown\/out\/dt_ops_appearance_specifications.html\" target=\"_blank\" rel=\"noreferrer noopener\" aria-label=\" (opens in a new tab)\">Duckietown Appearance Specifications<\/a>\u300d\u3002<\/p>\n\n\n\n<div class=\"wp-block-group is-layout-flow wp-block-group-is-layout-flow\"><div class=\"wp-block-group__inner-container\">\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/51qWQUoyJA3E_V4Hz5P1X_SfhbbQgn23U_rUCZ2-fx_zKQ_uXqUyaEfTFPiB1AsNAqgo12poE-0kx--cD52-Xs6R7IBToN5OUoE1dQvn2ZmxAEhC3QxSiCb43j8EDfDkif_aEWvD\" alt=\"\"\/><figcaption> \u5730\u5716\u7bc4\u4f8b <\/figcaption><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/dfK6inzX80fDXzcxUCqE46OXXdgWUmKlwCYpOuxAGmHu7p_q44nRrcCPUi-IzqLbpn0uKvK7NCMAavvfJrB0BTiFyvGv0I8hpt-NGaZFSHGed8Nug8_YZNzQi1_tEscsmj0vSo2T\" alt=\"\"\/><figcaption>\u68cb\u76e4\u683c<\/figcaption><\/figure>\n<\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u5c0f\u9d28\u8eca\u57f7\u884c\u76f8\u6a5f\u6821\u6b63<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1. \u76f8\u6a5f\u672c\u8eab\u6821\u6b63<\/h3>\n\n\n\n<p>\u5728\u64cd\u4f5c\u4e3b\u6a5f\u4e2d\uff0c\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\uff0c\u958b\u555f\u5c0f\u9d28\u8eca\u7684\u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-style-large\"><p><strong>\u8acb\u6ce8\u610f\uff0c hostname \u6307\u7684\u662f\u5c0f\u9d28\u8eca\u7684\u5be6\u9ad4\u6a5f\u5668\u540d\u7a31\uff0c\u672c\u7bc7\u6587\u7ae0\u4f7f\u7528\u7684\u662f edu\u3002<\/strong><\/p><\/blockquote>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts duckiebot calibrate_intrinsics hostname<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/QWK00oK945xwbObtFkpDZQ0u7IJZpgWpDeRnKC5DghpiomSNdaD8pJNRItOw7LGqZMWDo4uppWCy6dtbS_kBoSt-nmMP3N1AwNcNOGNAN0Eh4gR1iHzboY8xucUQ2EngieKZCABI\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u7a0b\u5f0f\u57f7\u884c\u6210\u529f\u5f8c\uff0c\u4fbf\u6703\u8df3\u51fa\u4e00\u500b\u6821\u6b63\u8996\u7a97\uff0c\u5176\u4e2d\u7684\u5f71\u50cf\u4fbf\u662f\u7531\u5c0f\u9d28\u8eca\u7684\u93e1\u982d\u6240\u64f7\u53d6\u5230\u7684\u5f71\u50cf\uff0c\u5982\u4e0b\u5716\u6240\u793a\uff1a<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/XoIyGCFVvPISIa-qVk8zSH66nRGz3om8E1cbgED_g79pb6HeE0AqHMZRJEErYpnhAv84VYppUUtvcVhWs9vw59H8kkFhvqHLU-rs9ckL8NAAjVMA3sBLCyRByy0d495xxTDmlrlc\" alt=\"\"\/><figcaption>\u76f8\u6a5f\u6821\u6b63\u8996\u7a97<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u63a5\u4e0b\u4f86\u6211\u5011\u53ef\u4ee5\u79fb\u52d5\u68cb\u76e4\u683c\uff0c\u76f4\u5230\u6821\u6b63\u53c3\u6578\u4e0b\u65b9\u7684\u9032\u5ea6\u689d\u90fd\u8b8a\u6210<span style=\"color:#00d084\" class=\"tadv-color\"><strong>\u7da0\u8272<\/strong><\/span>\u70ba\u6b62\u3002\u82e5\u662f\u68cb\u76e4\u683c\u6c92\u6709\u56fa\u5b9a\u5728\u4e00\u500b\u7a69\u5b9a\u7684\u8868\u9762\uff0c\u5efa\u8b70\u53ef\u4ee5\u5c07\u68cb\u76e4\u683c\u653e\u7f6e\u5728\u5e73\u7a69\u7684\u684c\u9762\u4e0a\uff0c\u6539\u70ba\u79fb\u52d5\u5c0f\u9d28\u8eca\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/jJ_I5l6JORCf9_bAiNyvyrxN0yv-8zMzjN25WBQNXYag03mjKG21hml0UOUdCrvjvsONzahk7DxnFGxjCB8FYMS7hubytBWrfyW2sNHEHxlIxqzOLSK6tH48oSNBBUwRxxOhGUxU\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u7576\u6240\u6709\u7dda\u689d\u90fd\u5448\u73fe<span style=\"color:#00d084\" class=\"tadv-color\"><strong>\u7da0\u8272<\/strong><\/span>\u5f8c\uff0c\u4fbf\u53ef\u4ee5\u6309\u4e0b\u6309\u9215\u300c<strong>CALIBRATE<\/strong>\u300d\uff0c\u8b93\u7a0b\u5f0f\u958b\u59cb\u627e\u51fa\u76f8\u95dc\u7684\u53c3\u6578\u3002\u7576\u6821\u6b63\u5b8c\u6210\u5f8c\uff0c\u8acb\u6309\u4e0b\u6309\u9215\u300cCOMMIT\u300d(\u5982\u4e0b\u5716\u7d05\u5708\u8655)\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/l8Q9eMaKBFZTkZpt7B3-Kao8wRbShWGpjG1LzitGAU1bto0tRvmZjKWPgPRSy1oTCr6aDrbb8_e9XVuKxZw_siKzd3yr6LK_DWt2swJMMISYWHzWnOh2ez_QX9MHBPeCC9OwpTnL\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u5b8c\u6210\u5f8c\u6821\u6b63\u8996\u7a97\u5f8c\u4fbf\u6703\u81ea\u52d5\u95dc\u9589\uff0c\u82e5\u6c92\u6709\u81ea\u52d5\u95dc\u9589\uff0c\u8acb\u5728\u6821\u6b63\u8996\u7a97\u4e2d\uff0c\u6309\u4e0b\u9375\u76e4\u7684\u3010<strong>Q<\/strong>\u3011\u9375\uff0c\u4fbf\u53ef\u4ee5\u95dc\u9589\u6821\u6b63\u8996\u7a97\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2. \u5b9a\u5411\u6821\u6b63<\/h3>\n\n\n\n<p>\u5b8c\u6210\u76f8\u6a5f\u672c\u8eab\u6821\u6b63\u5f8c\uff0c\u63a5\u4e0b\u4f86\u6211\u5011\u5c07\u9032\u884c\u5b9a\u5411\u6821\u6b63\u3002\u8acb\u8f38\u5165\u4e0b\u5217\u6307\u4ee4\uff0c\u958b\u59cb\u57f7\u884c\u5b9a\u5411\u6821\u6b63\u3002<\/p>\n\n\n\n<p><span style=\"background-color:#b9babf\" class=\"tadv-background-color\">$ dts duckiebot calibrate_extrinsics edu<\/span><\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/zW7FqOLWctXQuOMYOC7Wc-PR77I7kcjVo4zuPXTW7mVOsHYSjlYUTpNtkaBe8_YTmIQaD2zM2XRRA2YKVoukgUeMYCf5fxm0ff9CySd0R7nIAcMoU6micfe5JAEinwrPAvu3pXCV\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u7b2c\u4e00\u6b21\u7684\u6821\u6b63\uff0c\u6703\u9700\u8981\u5148\u5c07\u5c0f\u9d28\u8eca\u653e\u7f6e\u5728\u68cb\u76e4\u683c\u5f8c\u65b9\u7684\u8f14\u52a9\u7dda\u4e0a\uff0c\u8b93\u5169\u500b\u8f2a\u5b50\u5c0d\u6e96\u5728\u8207 Y \u8ef8\u5782\u76f4\u3001\u8f03\u77ed\u7684\u5169\u500b\u7dda\u689d\u4e0a\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/a9Z90VK7eXIRSAvWiB7dHyUVIMC4mpoVUD7BkJi08xqgvpoovEK-J2Iqj1BvK_v5QtrQlSnGm0z4w4lODfxK-Ucpc4fil0kiuP9BRZHfS5v2zGhWWT9Aosy2COFoHJmIe8ZlZne_\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u63a5\u8457\u56de\u5230\u64cd\u4f5c\u4e3b\u6a5f\u7684 Terminal \u8996\u7a97\u4e2d\uff0c\u6309\u4e0b\u9375\u76e4\u7684\u3010<strong>Enter<\/strong>\u3011\u6309\u9375\u3002\u6821\u6b63\u5b8c\u7562\u5f8c\uff0c\u63a5\u8457\u6703\u51fa\u73fe\u63d0\u793a\uff0c\u9700\u8981\u628a\u5c0f\u9d28\u8eca\u653e\u5230\u5148\u524d\u6e96\u5099\u597d\u7684\u5c0f\u90e8\u5206\u5730\u5716\u4e0a\uff0c\u4e26\u4e14\u5c0f\u9d28\u8eca\u9700\u8981\u5728\u5169\u689d\u7dda\u9053\u4e4b\u9593\uff0c\u9ec3\u7dda\u5728\u5de6\u908a\u3001\u767d\u7dda\u5728\u53f3\u908a\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh3.googleusercontent.com\/p9yEcaWfc2P1IKITzKO0DiIYXU98dznL8KmMXvQuCbTt9zSmOckaN4UnDMyeLlyUzQ_d1Hbi69p-Eh6v3h7c_fIEWkTmGsAIz9nIZaHGWLysYI8lY-J68quz-TBlxeaRwCGhUPlV\" alt=\"\"\/><\/figure><\/div>\n\n\n\n<p>\u5c0f\u9d28\u8eca\u64fa\u653e\u5b8c\u6210\u5f8c\uff0c\u518d\u56de\u5230\u64cd\u4f5c\u4e3b\u6a5f\u7684 Terminal \u8996\u7a97\u4e2d\uff0c\u6309\u4e0b\u9375\u76e4\u7684\u3010<strong>Enter<\/strong>\u3011\u6309\u9375\uff0c\u7b49\u5f85\u6821\u6b63\u5b8c\u7562\u3002<\/p>\n\n\n\n<p>\u6821\u6b63\u597d\u7684\u53c3\u6578\u6a94\u6848\uff0c\u7686\u6703\u5b58\u653e\u5728\u5c0f\u9d28\u8eca\u7cfb\u7d71\u4e0a\u7684\u3010<strong>\/data\/config\/calibrations<\/strong>\u3011\u8def\u5f91\uff0c\u5982\u4e0b\u5716\u6240\u793a\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img decoding=\"async\" src=\"https:\/\/lh6.googleusercontent.com\/y3g557LS-FxrPEvwe38eODwdlHbp6czNXO7-WNBciuNG5bqC-tx1JpDgICPferxkIgacKS1tRsLi8zPWXoRKaV74kgsULBFa3md38EXot9gVAsdYC3toRF9sowjDF-u1dh3F4mz2\" alt=\"\"\/><figcaption>\u5c0f\u9d28\u8eca\u76f8\u6a5f\u6821\u6b63\u53c3\u6578\u5b58\u653e\u8def\u5f91<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u672c\u6b21\u7684\u76f8\u6a5f\u6821\u6b63\u64cd\u4f5c\u5206\u4eab\u5c31\u5230\u9019\u908a\u7d50\u675f\u56c9\uff01\u4e0b\u4e00\u7bc7\u6587\u7ae0\u6211\u5011\u5c07\u6703\u6301\u7e8c\u4ecb\u7d39\u5c0f\u9d28\u8eca\u66f4\u591a\u7684\u64cd\u4f5c\u529f\u80fd\uff01\u8acb\u5404\u4f4d\u591a\u591a\u95dc\u6ce8\u8207\u5206\u4eab\u6211\u5011\u7684\u6587\u7ae0\u5594\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u7bc7\u6587\u7ae0\u8207\u5927\u5bb6\u4ecb\u7d39\u5b8c PID controller \u7684\u4f7f\u7528\u5f8c\uff0c\u672c\u7bc7\u6587\u7ae0\u5c07\u8981\u70ba\u5927\u5bb6\u4ecb\u7d39\u5982\u4f55\u5728 Duckiebot DB21M\u4e0a\u7528\u4f86\u6aa2\u6e2c\u5916\u90e8\u74b0\u5883\u7684\u8cc7\u8a0a\u7684\u611f\u6e2c\u5668-IMX219-160 Camera \u9032\u884cCamera Calibration \u76f8\u6a5f\u6821\u6b63\u3002<\/p>\n","protected":false},"author":1,"featured_media":11807,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[101,34,238],"tags":[184,179,178,118,119],"table_tags":[],"_links":{"self":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11067"}],"collection":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/comments?post=11067"}],"version-history":[{"count":25,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11067\/revisions"}],"predecessor-version":[{"id":12535,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/posts\/11067\/revisions\/12535"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media\/11807"}],"wp:attachment":[{"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/media?parent=11067"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/categories?post=11067"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/tags?post=11067"},{"taxonomy":"table_tags","embeddable":true,"href":"https:\/\/www.circuspi.com\/index.php\/wp-json\/wp\/v2\/table_tags?post=11067"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}