INDEMIND这款相机有硬件同步,但是imu的数据还是不够准确,所以还是需要进行标定。虽然出场已经进行过标定,但是数据仍不够准确,而目前也没有针对这款IMU相机的标定教程,所以从Kalibr安装开始,进行双目相机的标定、IMU的标定、相机和IMU联合标定,做以记录。
系统配置
系统:Ubuntu18.04 desktop
camera:INDEMIND相机
一、Kalibr的安装
1、Kalibr的安装
sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
sudo pip install python-igraph --upgrade
2、创建工作空间
mkdir -p ~/kalibr_ws/src
cd ~/kalibr_ws
source /opt/ros/kinetic/setup.bash
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
3、下载Kalibr并编译
cd ~/kalibr_ws/src
git clone https://github.com/ethz-asl/Kalibr.git
cd ~/kalibr_ws
catkin build -DCMAKE_BUILD_TYPE=Release -j4
4、设置环境变量
source ~/kalibr_ws/devel/setup.bash
二、标定准备
1、准备标定板
标定板可以用 kalibr 提供的pdf,标定板下载地址
这里采用Aprilgrid 6x6 0.8x0.8 m (A0 page)进行标定
2、启动ROS Wrapper
cd IMSEE-SDK/
sudo su #开启权限模式
source ros/devel/setup.bash
roslaunch imsee_ros_wrapper start.launch
3、列出订阅话题
rostopic list
4、录制bag
rosbag record -O stereo_calibra.bag /imsee/image/left /imsee/image/right
5、配置文件
准备april_6x6_80x80cm.yaml
文件
target_type: 'aprilgrid' #gridtype
tagCols: 6 #number of apriltags
tagRows: 6 #number of apriltags
tagSize: 0.088 #size of apriltag, edge to edge [m]
tagSpacing: 0.264 #ratio of space between tags to tagSize
codeOffset: 0 #code offset for the first tag in the aprilboard
6、采集好数据集后,用已经安装好的Kalibr保定双目相机
source kalibr_ws/devel/setup.bash
rosrun kalibr kalibr_calibrate_cameras --bag /home/geekfanr/stereo_calibra.bag --topics /imsee/image/left /imsee/image/right --models pinhole-radtan pinhole-radtan --target /home/geekfanr/kalibr_ws/src/kalibr/april_6x6_80x80cm.yaml --show-extraction