rm_camera

香港中文大学（深圳）过岗龙战队2026考核有关库。

📖 Getting Started

examples 文件夹下有相机接口和串口通信相关接口的示例。

• 海康威视相机驱动

去相机驱动选linux的最新版：机器视觉工业相机客户端MVS V4.6.0 (Linux)

unzip MVS_Linux_STD_V4.6.0_250808.zip
sudo dpkg -i MVS-4.6.0_x86_64_20250808.deb
source ~/.bashrc

• 相机标定

这里直接给出标定后相机的参数，请自行选择需要的参数

image_width: 1440
image_height: 1080
camera_name: narrow_stereo
camera_matrix:
  rows: 3
  cols: 3
  data: [2406.564842, 0.000000, 747.931914,
  	0.000000, 2409.363929, 548.456657,
  	0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.022929, -0.079355, 0.000840, 0.002737, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.000000, 0.000000, 0.000000,
         0.000000, 1.000000, 0.000000,
         0.000000, 0.000000, 1.000000]
projection_matrix:
  rows: 3
  cols: 4
  data: [2397.845215, 0.000000, 749.396019, 0.000000,
	0.000000, 2404.354248, 548.290005, 0.000000,
	0.000000, 0.000000, 1.000000, 0.000000]

• 编译

mkdir build
cmake -B build
make -C build

• 运行示例代码

./build/hik_demo
./build/serial_demo