zed2相机标定（相机+imu）

相机和imu单独标定请参考前面的博客

1、准备文件

• checkboard.yaml
• 相机标定文件camera_calibration.yaml
• imu标定文件imu_calibration.yaml

IMU标定文件格式需要改为如下：

rostopic: /zed2/zed_node/imu/data_raw
update_rate: 200.0 #Hz

accelerometer_noise_density: 1.95210249097e-03 #continous
accelerometer_random_walk: 3.21657754841e-05 
gyroscope_noise_density: 1.66653821181e-03 #continous
gyroscope_random_walk: 3.62995642537e-06

2、录制数据包

rosbag record -O camera_imu.bag /zed2/zed_node/imu/data_raw /zed2/zed_node/left_raw/image_raw_color /zed2/zed_node/right_raw/image_raw_color

具体晃动方式，请参考：https://github.com/ethz-asl/kalibr

3、获取标定结果

kalibr_calibrate_cameras --bag camera_imu.bag  
--topics /zed2/zed_node/left_raw/image_raw_color /zed2/zed_node/right_raw/image_raw_color /zed/imu/data_raw 
--target /home/linu/checkboard.yaml
--bag-from-to 10 120
--cam /home/linu/camera_calibration.yaml
--imu /home/linu/imu_calibration.yaml
--imu-models scale-misalignment
--timeoffset-padding 0.1

包含：

bag——rosbag录制的camera和imu数据包

topic——话题

target——标定板

cam——相机标定文件

imu——imu标定文件

imu-models——imu模型设置

timeoffset-padding 0.1——不加可能导致优化失败

4、标定结果

Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.388027724346, median 0.321586354657, std: 0.193270240334
Reprojection error (cam1):     mean 0.345539051233, median 0.306117037601, std: 0.16266451799
Gyroscope error (imu0):        mean 0.047658139606, median 0.019215060196, std: 0.066810728083
Accelerometer error (imu0):    mean 0.038012311012, median 0.0120486055, std: 0.081502678654

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.388027724346, median 0.321586354657, std: 0.193270240334
Reprojection error (cam1) [px]:     mean 0.345539051233, median 0.306117037601, std: 0.16266451799
Gyroscope error (imu0) [rad/s]:     mean 0.00118778318767, median 0.00028144806936, std: 0.001101726635
Accelerometer error (imu0) [m/s^2]: mean 0.0113284920637, median 0.02255015969, std: 0.02416736731076

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.00187147 -0.99998549 -0.00505064  0.01366733]
 [ 0.01017231  0.00506942 -0.99993541 -0.00102147]
 [ 0.99994651  0.00181997  0.01018165 -0.01131571]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.00187147  0.01017231  0.99994651  0.01129992]
 [-0.99998549  0.00506942  0.00181997  0.0136929 ]
 [-0.00505064 -0.99993541  0.01018165 -0.00083716]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.00154701726907521