目录
一、camera_calibration标定工具的使用
Camera Calibration是ROS提供的一个用于单目或者双目相机标定的包，可以十分方便地使用。使用的标定板是棋盘格(Chessboard)，而非AprilTag。官方网站详细信息在下面网站中。camera_calibration - ROS Wiki
https://wiki.ros.org/camera_calibration在官网上说明这个包基于OpenCV实现，原理是一样的。在官网给出了利用它标定单目相机示例。camera_calibration/Tutorials/MonocularCalibration - ROS Wikihttps://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration双目相机示例。camera_calibration/Tutorials/StereoCalibration - ROS Wikihttps://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration
1.1、使用环境
本次标定使用的计算机环境为：
# Ubuntu 18.04 ROS 1 Melodic
1.2、工具安装
使用camera_calibration标定工具标定时，需要相机驱动功能包将普通USB相机的影像流转换成Topic发布出来。不同品牌的相机可在品牌官网下载驱动功能包，本文使用通用USB相机驱动功能包，相关详细信息可在官网进行查阅。usb_cam - ROS Wikihttps://wiki.ros.org/usb_cam
通用USB相机驱动功能包安装：
# 安装命令
sudo apt-get install ros-melodic-usb-cam驱动USB相机：
# launch文件默认地址
/opt/ros/melodic/share/usb_cam/launch/usb_cam-test.launch
# 修改相关参数（例:video_device /dev/video2）后可驱动USB相机
roslaunch usb_cam usb_cam-test.launch
camera_calibration标定工具安装：
# 安装命令
sudo apt-get install ros-melodic-camera-calibration启动camera_calibration标定工具：
# size 是标定板格子的大小 5x4代表5行4列; square 是每个格子的边长 单位是米.
rosrun camera_calibration cameracalibrator.py image:=/camera/rgb/image_color camera:=/camera/rgb --size 5x4 --square 0.0245
1.3、标定使用
使用标定板在图像前方移动变换位置，会看到图像窗口的右上角有四个参数以及进度条，等四个进度条都变成绿色的时候，点calibration进行标定；点击save按钮，终端会打印保存路径；点击commit会将结果保存在默认位置。
# 标定文件默认路径
~/.ros/camera_info标定结果文件解释：
image_width: 640
image_height: 480
camera_name: rgb_A70773W05620243A
camera_matrix:
rows: 3
cols: 3
data: [558.5887623341009, 0, 345.0028122792014, 0, 560.9785552268178, 241.7893758919053, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [0.08015751442437268, -0.1327823250512246, 0.001554338754997946, 0.01162634779859426, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [563.5552368164062, 0, 351.8412745827845, 0, 0, 573.044677734375, 242.5099694345918, 0, 0, 0, 1, 0]
# 相机内参矩阵表示含义
# camera_matrix:[fx, 0, cx, 0, fy, cy, 0, 0, 1]
# distorition_coefficients:[k1, k2, p1, p2, k3]
二、imu_utils标定工具的使用
imu_utils是用于求取IMU随机误差的开源工具。
2.1、使用环境
本次标定使用的计算机环境为：
# Ubuntu 18.04 ROS 1 Melodic
imu型号为： yahboom CMP10A
2.2、工具安装
依赖项安装：
sudo apt-get install libdw-dev
# 安装串口驱动程序
sudo apt install ros-melodic-serial
# 查找对应的串口标号
ll /dev/ttyUSB*安装imu_utils工具：
# imu_utils下载地址为：https://github.com/gaowenliang/imu_utils
# code_utils下载地址为：https://github.com/gaowenliang/code_utils
# 注意：
# 1、全局安装ceres库，code_imu依赖ceres；
# 2、不要同时把imu_utils和code_utils一起放到src下进行编译。由于imu_utils依赖code_utils，所以先把code_utils放在工作空间的src下面，进行编译。然后再将imu_utils放到src下面，再编译。
# 编译指令
mkdir -p imu_utils_ws/src
cd imu_utils_ws/src
catkin_init_make
cd ..
catkin_make
出错注意事项：
# code_utils编译问题
# sumpixel_test.cpp文件
# 修改#include "backward.hpp"为 #include “code_utils/backward.hpp”
# 更多问题参考博客：https://blog.csdn.net/qq_39607707/article/details/125061020
2.3、标定使用
配置launch文件
# imu_utils工具的launch文件位置
<!--路径： imu_utils_ws/src/imu_utils-master/launch/yahboom.laucnh -->
<!--文件名： yahboom.laucnh -->
<launch>
<node pkg="imu_utils" type="imu_an" name="imu_an" output="screen">
<param name="imu_topic" type="string" value= "/imu/data"/> <!-- 话题名称 -->
<param name="imu_name" type="string" value= "yahboom"/> <!-- imu名称 -->
<param name="data_save_path" type="string" value= "$(find imu_utils)/data/yahboom/"/> <!-- 标定结果文件保存位置 -->
<param name="max_time_min" type="int" value= "140"/>
<param name="max_cluster" type="int" value= "100"/>
</node>
</launch>录制imu数据包：
# 驱动imu传感器 yahboom CMP10A
roslaunch wit_ros_imu rviz_and_imu.launch
# 录制imu数据信息 录制2.5小时
rosbag record -o imu.bag /imu/data --duration=2.5h 对imu进行标定：
# 运行imu_utils标定程序
roslaunch imu_utils yahboom.launch
# 播放录制好的数据包 以200倍速度播放
rosbag play -r 200 imu.bag标定结果：
# 产生结果文件的路径在launch文件中设定 $(find imu_utils)/data/yahboom/
# yahboom_imu_param.yanl
%YAML:1.0
---
type: IMU
name: yahboom
Gyr:
unit: " rad/s"
avg-axis:
gyr_n: 1.3185049024373589e-05 # 陀螺仪误差模型的高斯白噪声
gyr_w: 1.1302794190713415e-07 # 陀螺仪bias
x-axis:
gyr_n: 1.9304615705852371e-05
gyr_w: 1.5987745115722577e-07
y-axis:
gyr_n: 2.0250531367268400e-05
gyr_w: 1.7920637456417667e-07
z-axis:
gyr_n: 0.
gyr_w: 0.
Acc:
unit: " m/s^2"
avg-axis:
acc_n: 5.9540692177708354e-03 # 加速度计误差模型的高斯白噪声
acc_w: 3.4397387675757612e-04 # 加速度计bias
x-axis:
acc_n: 4.0565772029261269e-03
acc_w: 1.9929365981837742e-04
y-axis:
acc_n: 3.9293939995785794e-03
acc_w: 2.7882669771002114e-04
z-axis:
acc_n: 9.8762364508078026e-03
acc_w: 5.5380127274432987e-04IMU内参数据结果在上述yaml文件中。
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三、kalibr标定工具的使用
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3.1、使用环境
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# 环境 # Ubuntu 16.04 ROS 1 Kinetic (uses OpenCV 3.3) # Ubuntu 18.04 ROS 1 Melodic (uses OpenCV 3.2) # Ubuntu 20.04 ROS 1 Noetic (uses OpenCV 4.2)3.2、工具安装
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# 安装依赖 sudo apt-get install -y git wget autoconf automake nano libeigen3-dev libboost-all-dev libsuitesparse-dev doxygen libopencv-dev libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev # Ubuntu 16.04 sudo apt-get install -y python2.7-dev python-pip python-scipy \ python-matplotlib ipython python-wxgtk3.0 python-tk python-igraph python-pyx # Ubuntu 18.04 sudo apt-get install -y python3-dev python-pip python-scipy \ python-matplotlib ipython python-wxgtk4.0 python-tk python-igraph python-pyx # Ubuntu 20.04 sudo apt-get install -y python3-dev python3-pip python3-scipy \ python3-matplotlib ipython3 python3-wxgtk4.0 python3-tk python3-igraph python3-pyx # 创建工作空间 mkdir -p ~/kalibr_workspace/src cd ~/kalibr_workspace export ROS1_DISTRO=noetic # kinetic=16.04, melodic=18.04, noetic=20.04 source /opt/ros/$ROS1_DISTRO/setup.bash catkin init catkin config --extend /opt/ros/$ROS1_DISTRO catkin config --merge-devel # Necessary for catkin_tools >= 0.4. catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release cd ~/kalibr_workspace/src git clone https://github.com/ethz-asl/kalibr.git # 编译安装 cd ~/kalibr_workspace/ catkin build -DCMAKE_BUILD_TYPE=Release -j4 # 工具使用 source ~/kalibr_workspace/devel/setup.bash rosrun kalibr <command_you_want_to_run_here> # 参考kalibr工具使用指南 https://github.com/ethz-asl/kalibr/wiki/installation https://blog.csdn.net/yolon3000/article/details/1177086053.3、标定使用
- 配置标定板：
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# 标定板 # 标定板下载地址 https://github.com/ethz-asl/kalibr/wiki/downloads # 推荐使用Aprilgrid 6x6 0.8x0.8 m (A0 page) # 配置april_6x6_80x80cm.yaml # calibration-targets的详细信息https://github.com/ethz-asl/kalibr/wiki/calibration-targets target_type: 'aprilgrid' #gridtype tagCols: 6 #number of apriltags tagRows: 6 #number of apriltags tagSize: 0.021 #size of apriltag, edge to edge [m] tagSpacing: 0.3 #ratio of space between tags to tagSize codeOffset: 0 #code offset for the first tag in the aprilboard录制标定数据包：
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# 录制2mins数据包文件 roslaunch usb_cam usb_cam-test.launch roslaunch wit_ros_imu rviz_and_imu.launch rosbag record -o /home/slam/catkin_imu_calibration/cam_imu_data/cam-imu1.bag /usb_cam/image_raw /imu/data --duration=120单目相机的标定：
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# 标定单目相机的内参信息 --bag-from-to 10 110 表示使用10s-110s数据标定相机内参 rosrun kalibr kalibr_calibrate_cameras --target src/kalibr-master/config/april_6x6_80x80cm.yaml --bag /home/bjh/cam-imu_2024-05-15-19-08-53.bag --bag-from-to 3 100 --models pinhole-radtan --topic /usb_cam/image_raw --show-extraction # 标定结果文件 # cam-imu_2024-05-15-19-08-53-camchain.yaml cam0: cam_overlaps: [] camera_model: pinhole distortion_coeffs: [0.017777872247314898, -0.02684631957086134, -0.001894330604890975, 0.0012601548760557617] distortion_model: radtan intrinsics: [414.10646722263186, 414.9798322310292, 333.8803601000024, 273.22676780081156] resolution: [640, 480] rostopic: /usb_cam/image_raw单目相机与imu的配置文件：
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# 相机配置文件 # camchain.yaml cam0: camera_model: pinhole intrinsics: [414.106, 414.979, 333.880, 273.226] # fx、fy、cx、cy distortion_model: radtan distortion_coeffs: [0.01777787, -0.02684631, -0.00189433, 0.00126015] #k1、k2、p1、p2 rostopic: /usb_cam/image_raw resolution: [640, 480] # imu配置文件 # imu.yaml #Accelerometers accelerometer_noise_density: 5.95e-03 #Noise density (continuous-time) accelerometer_random_walk: 3.43e-04 #Bias random walk #Gyroscopes gyroscope_noise_density: 1.31e-05 #Noise density (continuous-time) gyroscope_random_walk: 1.13e-07 #Bias random walk rostopic: /imu/data #the IMU ROS topic update_rate: 200.0 #Hz (for discretization of the values above)相机与imu的联合标定：
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# 启动联合标定 rosrun kalibr kalibr_calibrate_imu_camera --target src/kalibr-master/config/april_6x6_80x80cm.yaml --cam src/kalibr-master/config/camchain.yaml --imu src/kalibr-master/config/imu.yaml --bag cam_imu_data/cam-imu1_2024-05-15-20-48-53.bag --bag-from-to 10 110 --show-extraction标定结果：
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# 结果保存位置 默认保存在bag目录下 # cam-imu1_2024-05-15-20-48-53-report-imucam.pdf 标定结果pdf报告 # cam-imu1_2024-05-15-20-48-53-results-imucam.txt 相对位姿标定结果 # cam-imu1_2024-05-15-20-48-53-results-imucam.txt Calibration results =================== Normalized Residuals ---------------------------- Reprojection error (cam0): mean 0.60843950657, median 0.524293412496, std: 0.404512347602 Gyroscope error (imu0): mean 85.6904360986, median 63.0215751609, std: 75.7223230243 Accelerometer error (imu0): mean 1.03969304005, median 0.955396798385, std: 0.590280347338 Residuals ---------------------------- Reprojection error (cam0) [px]: mean 0.60843950657, median 0.524293412496, std: 0.404512347602 Gyroscope error (imu0) [rad/s]: mean 0.0158751795734, median 0.0116755015872, std: 0.0140284672416 Accelerometer error (imu0) [m/s^2]: mean 0.0874857058781, median 0.0803925390286, std: 0.0496695571321 Transformation (cam0): ----------------------- T_ci: (imu0 to cam0): [[-0.02627497 -0.99953152 0.01569585 0.01310044] [-0.08083579 -0.01352543 -0.99663566 -0.02879988] [ 0.99638105 -0.02745536 -0.08044254 -0.04538489] [ 0. 0. 0. 1. ]] T_ic: (cam0 to imu0): [[-0.02627497 -0.08083579 0.99638105 0.0432368 ] [-0.99953152 -0.01352543 -0.02745536 0.01145872] [ 0.01569585 -0.99663566 -0.08044254 -0.03255949] [ 0. 0. 0. 1. ]] timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) 0.00407106619139 Gravity vector in target coords: [m/s^2] [-0.04347258 -9.8048329 -0.1782832 ] Calibration configuration ========================= cam0 ----- Camera model: pinhole Focal length: [414.106, 414.979] Principal point: [333.88, 273.226] Distortion model: radtan Distortion coefficients: [0.01777787, -0.02684631, -0.00189433, 0.00126015] Type: aprilgrid Tags: Rows: 6 Cols: 6 Size: 0.021 [m] Spacing 0.0063 [m] IMU configuration ================= IMU0: ---------------------------- Model: calibrated Update rate: 200.0 Accelerometer: Noise density: 0.00595 Noise density (discrete): 0.0841457069612 Random walk: 0.000343 Gyroscope: Noise density: 1.31e-05 Noise density (discrete): 0.000185261976671 Random walk: 1.13e-07 T_ib (imu0 to imu0) [[ 1. 0. 0. 0.] [ 0. 1. 0. 0.] [ 0. 0. 1. 0.] [ 0. 0. 0. 1.]] time offset with respect to IMU0: 0.0 [s]标定注意事项：
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# 联合标定时报错 ： RuntimeError: Optimization failed! # 解决办法： # 请打开kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera.py文件，搜索timeOffsetPadding我的大概在198行。我先是输出它的值看了一下是0.03，然后增大此变量的值即可，我增大到了0.3 (PS：不能太大，我一开始改成了100，直接内存给干爆了)。 print "Building the problem" #print(parsed.timeoffset_padding) #输出看一眼timeOffsetPadding的值 iCal.buildProblem(splineOrder=6, poseKnotsPerSecond=100, biasKnotsPerSecond=50, doPoseMotionError=False, doBiasMotionError=True, blakeZisserCam=-1, huberAccel=-1, huberGyro=-1, noTimeCalibration=parsed.no_time, noChainExtrinsics=(not parsed.recompute_chain_extrinsics), maxIterations=parsed.max_iter, # timeOffsetPadding=parsed.timeoffset_padding, #原来的代码 timeOffsetPadding=0.3, #修改后 verbose = parsed.verbose) # 参考：https://blog.csdn.net/qq_38337524/article/details/115589796参考博客：
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