之前博客《ROS学习笔记之——DAVIS346 calibration》已经试过用dv-gui来对事件相机做校正。博客《ROS实验笔记之——基于kalibr来标定DAVIS346》也尝试用了kalibr做校正。本博文再次才用dv-gui来对事件相机的camera与imu做校正
目录
配置及校正过程
由于eth想尽了办法阻碍event camera的学术发展(也许是想以此掩盖他们学术造假吧)，所以一般情况下，linux安装了dv-gui会影响其正常开发，故此此处就用windows来安装dv-gui（linux用户如果不惧怕重装系统也可以试试用linux哈）
但是windows版本好像也有问题。。。。只能改为mac版本了（说实话，经过最近开发event camera，真心觉得eth这个组，真的是。。。。。）
然后类似前面博客那样做即可。
而在dv-gui中，有基于kalibr的矫正camera与imu的参数。由于其只支持ubuntu，所以还是决定用ubuntu进行开发吧哎。
Calculate camera visual-inertial calibration parameters. Calibrate camera intrinsics, spatial and temporal calibration of an IMU with respect to the camera.
https://gitlab.com/inivation/dv/dv-imu-cam-calibration/-/blob/master/docs/april_6x6_2x2cm.pdf首先安装dv-gui
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo add-apt-repository ppa:inivation-ppa/inivation-bionic
sudo apt-get update
sudo apt-get install dv-gui
sudo apt-get install dv-runtime-dev然后下载源码（Files · master · iniVation AG / dv-core / dv-imu-cam-calibration · GitLab），构建
mkdir build
cd build
cmake -DUSE_CUDA_STEREO=ON ..
make
sudo make install
好像编译不成功，试试下面这个
cd dv-example-cpp
cmake .
make -j2 -s
sudo make install编译显示fpic报错。可参考
在cmakelist中加入
add_compile_options(-fPIC)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")但好像不太可以。。。。
决定换台电脑编译然后拉过来（换台电脑成功了。。。。）
设置structure跟作者给出的类似如下：
然后设置如下参数
（对于accumulator）：
- decay function = linear
- decay param = 1e-8
- event contribution = 0.35
- min potential = 0.0
- max potential = 1.0
对于dv-imu-cam-calibration
- calibration pattern (recommended aprilgrid)
- size of the calibration pattern (eg. 6x6)
- board square size
- tag spacing ratio (apriltag only)
开始校正，得到的信息还是比较丰富的
有几点需要注意的，首先，里面需要提前输入imu的bias。作者给定的参数如下图
但毕竟这都是给定的。像之前博客就有DAVIS346的测试结果：
#Accelerometers
accelerometer_noise_density: 4.0577448874376872e-02 #Noise density (continuous-time)
accelerometer_random_walk: 8.7349218314222493e-04 #Bias random walk
#Gyroscopes
gyroscope_noise_density: 3.4207443164969696e-03 #Noise density (continuous-time)
gyroscope_random_walk: 5.0328372766535944e-05 #Bias random walk
若不加速播放rosbag得到的结果如下（实际用下面的）：
gyr_n: 3.4869979619824697e-03
gyr_w: 4.4740603706140853e-05
acc_n: 4.2153479580575477e-02
acc_w: 8.5654389798364998e-04
那么就先将DVXplorer静止两个小时看看吧hhh～
编写IMU的录取launch(10.34开始录取)
source ~/imu_catkin_ws/devel/setup.bash
roslaunch imu_utils dvxplorer_imu.launch
rosbag play /home/kwanwaipang/dataset/gwphku/hku_dvsplorer_imu_2021-12-02-10-34-28.bagIMU校正采用的包是（https://github.com/gaowenliang/imu_utils）
在imu_utils文件下的launch文件目录下添加一个launch文件，我这里添加的是dvxplorer_imu.launch，并把以下代码复制进文件，代码中的/IMU_data改成自己imu的topic。
<launch>
<node pkg="imu_utils" type="imu_an" name="imu_an" output="screen">
<!--TOPIC名称-->
<param name="imu_topic" type="string" value= "/dvs/imu"/>
<!--imu_name 无所谓-->
<param name="imu_name" type="string" value= "imu_dvxplorer"/>
<!--标定结果存放路径-->s
<param name="data_save_path" type="string" value= "$(find imu_utils)/dvxplorer/"/>
<!--数据录制时间-min-->
<param name="max_time_min" type="int" value= "120"/>
<!--采样频率，即是IMU频率，采样频率可以使用rostopic hz /dvs/imu查看，设置为1000-->
<param name="max_cluster" type="int" value= "1000"/>
</node>
</launch>
记录参数
DAVIS346
先试试用默认的参数的校正效果
accelerometer noise density0.002
acceletometer random walk4.0e-5
gyroscope noise density0.00018
gyroscope random walk0.001
校正结果如下：
（尝试了n次，经常会报错。。。。）
projection: 270.106 270.198 176.598 138.835
distortion: -0.370937 0.153463 -1.39532e-05 0.000646588
Calibrating using 4061 target observations and 136955 IMU measurements
Transformation T_cam_imu:
imu-cam-calibration 0.974702 -0.223137 0.0128985 0.00398415
imu-cam-calibration -0.222717 -0.974482 -0.027965 -0.0127033
imu-cam-calibration 0.0188094 0.0243849 -0.999526 0.799613
imu-cam-calibration 0 0 0 1
Camera to imu time: [s] (t_imu = t_cam + shift):
-0.000246622
若采用之前标定的值
gyr_n: 3.4869979619824697e-03
gyr_w: 4.4740603706140853e-05
acc_n: 4.2153479580575477e-02
acc_w: 8.5654389798364998e-04
Intrinsic calibration results:
projection: 268.029 268.2 178.259 139.028
distortion: -0.36741 0.150866 0.0005692 -0.00010249
Calibrating using 4148 target observations and 145429 IMU measurements
Transformation T_cam_imu:
imu-cam-calibration -0.876169 0.481339 -0.025299 0.0327882
imu-cam-calibration 0.481812 0.876094 -0.0177976 -0.0505648
imu-cam-calibration 0.0135976 -0.0277831 -0.999521 -0.0713653
imu-cam-calibration 0 0 0 1
Camera to imu time: [s] (t_imu = t_cam + shift):
-0.00119093
(这次的结果跟前面两次相差得很大啊。。。。)
再做一次看看吧。。。。。
projection: 269.636 269.875 177.639 138.42
distortion: -0.369127 0.151308 0.000927198 9.5582e-05
Calibrating using 4232 target observations and 148353 IMU measurements
Transformation T_cam_imu:
imu-cam-calibration 0.920119 -0.366281 0.13863 0.000831942
imu-cam-calibration -0.386983 -0.904731 0.17806 -0.159823
imu-cam-calibration 0.0602033 -0.217484 -0.974205 1.13248
imu-cam-calibration 0 0 0 1
imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):
0.00777437
这还是差别有点大啊。。。。。
DVXplorer
默认imu的bias为：
accelerometer noise density1.49e-3
acceletometer random walk8.69e-5
gyroscope noise density8.09e-5
gyroscope random walk2.29e-6
projection: 562.079 561.889 338.749 261.682
distortion: -0.367853 0.152626 0.000617949 -0.000634148
Calibrating using 4448 target observations and 118296 IMU measurements
Transformation T_cam_imu:
imu-cam-calibration -0.999643 0.0262715 -0.00489719 0.00251847
imu-cam-calibration 0.0259001 0.99757 0.0646767 0.0214841
imu-cam-calibration 0.00658444 0.0645267 -0.997894 -0.0302793
imu-cam-calibration 0 0 0 1
imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):
imu-cam-calibration 0.00535007
第二次试的时候非常的卡。。。。
根据上面标定得到的imu的bias为：
acc_n: 3.7863819264639269e-02
acc_w: 6.8693717455312715e-04
gyr_n: 3.1745424413195111e-03
gyr_w: 3.3271308846999896e-05
projection: 564.188 564.059 339.514 261.761
distortion: -0.372301 0.16491 0.000287552 -0.00100905
Calibrating using 5488 target observations and 148722 IMU measurements
Transformation T_cam_imu:
imu-cam-calibration -0.966082 0.257502 -0.0194572 0.0406333
imu-cam-calibration 0.254106 0.961349 0.106015 0.00540429
imu-cam-calibration 0.0460042 0.0974746 -0.994174 -0.0376089
imu-cam-calibration 0 0 0 1
Camera to imu time: [s] (t_imu = t_cam + shift):
imu-cam-calibration -0.00399087
其他
注意此处得到的T_cam_imu就是imu到camera的。但是有时候我们需要用到camera到imu的；
可以通过下面代码转换
bool temp_T;
fsSettings["T_camera_imu"]>>temp_T;//是否输入的为imu到camera
if (temp_T){//如果是，则执行变换
RIC[0]=RIC[0].inverse();
TIC[0]=-RIC[0]*TIC[0];
}要是自己新增的module打开dv-gui你会发现还是没有imu-camera这个模块。通过下面步骤进行添加
- Launch DV （打开软件）
- Disable Connect to -> Manage local runtime instances. This tells DV to not start its own runtime, and just wait for someone else to start a runtime in its behalf.
- Select Shutdown if DV asks to shut down the current instance.
- DV is now waiting for a runtime to be started externally, and will connect as soon as one is started
- Start your runtime by clicking the play button in your IDE. Make sure to have set up your IDE run configuration as described above.
- As soon as DV connects to the runtime, select the Structure tab, click on Add module and select Modify module search path.
- Click on Add path and add the path where you compiled your modules project directory. Click on Done.
- Click on
Add moduleagain. If your module compiled succesfully, it should show up in the list of available modules to add. Click on your module name. - Connect the input and outputs of your module. Drag the connections from outputs into your modules inputs, and drag connections from your modules outputs to other inputs.
- Click the Play Button on your module to start it.
- If your module is working, you should see your expected outputs.
https://gitlab.com/inivation/dv/dv-imu-cam-calibration/-/blob/master/docs/tutorial.md
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