Event camera（事件相机）与imu外参标定

此方法基于事件流重建图像进行，流程如下：

1、事件相机采集含标定板的事件流数据

2、使用e2vid将事件流重建出图片

3、将图片转为rosbag包

4、将含有图片的rosbag包与原始录制的含有lmu的rosbag包合并成一个rosbag包

5、将合并的rosbag包使用kalibr进行外参标定（前提相机与imu的内参数据已知）

一、上述流程的前3步见我的另一篇博客

Event Camera Calib 单目事件相机内参标定

二、合并rosbag包

合并代码（我这里命名是rosbag_togther.py）

#!/usr/bin/env python
 
import sys
import argparse
from fnmatch import fnmatchcase
 
from rosbag import Bag
 
def main():
 
    parser = argparse.ArgumentParser(description='Merge one or more bag files with the possibilities of filtering topics.')
    parser.add_argument('outputbag',
                        help='output bag file with topics merged')
    parser.add_argument('inputbag', nargs='+',
                        help='input bag files')
    parser.add_argument('-v', '--verbose', action="store_true", default=False,
                        help='verbose output')
    parser.add_argument('-t', '--topics', default="*",
                        help='string interpreted as a list of topics (wildcards \'*\' and \'?\' allowed) to include in the merged bag file')
 
    args = parser.parse_args()
 
    topics = args.topics.split(' ')
 
    total_included_count = 0
    total_skipped_count = 0
 
    if (args.verbose):
        print("Writing bag file: " + args.outputbag)
        print("Matching topics against patters: '%s'" % ' '.join(topics))
 
    with Bag(args.outputbag, 'w') as o: 
        for ifile in args.inputbag:
            matchedtopics = []
            included_count = 0
            skipped_count = 0
            if (args.verbose):
                print("> Reading bag file: " + ifile)
            with Bag(ifile, 'r') as ib:
                for topic, msg, t in ib:
                    if any(fnmatchcase(topic, pattern) for pattern in topics):
                        if not topic in matchedtopics:
                            matchedtopics.append(topic)
                            if (args.verbose):
                                print("Including matched topic '%s'" % topic)
                        o.write(topic, msg, t)
                        included_count += 1
                    else:
                        skipped_count += 1
            total_included_count += included_count
            total_skipped_count += skipped_count
            if (args.verbose):
                print("< Included %d messages and skipped %d" % (included_count, skipped_count))
 
    if (args.verbose):
        print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count))
 
if __name__ == "__main__":
    main()

运行命令：

python rosbag_togther.py -v --topic "/dvs/image_reconstructed /capture_node/imu" total.bag reconstruction.bag 2023-05-11-22-24-46.bag

/dvs/image_reconstructed和/capture_node/imu，是要合并的话题名，分别是重建的图像和原始的imu数据

total.bag是合并后的包名，reconstruction.bag是重建图像的包名，2023-05-11-22-24-46.bag是imu的包名

三、将合并的rosbag包使用kalibr进行外参标定

见kalibr使用方法