[相机标定] 用Kalibr标定diy的双目相机

由于diy的双目相机没有做时间上的硬件同步，想着看看标定一下内外参能不能凑合用。首先试了一下采用ros自带的camera_calibration，感觉还行，在--approxiamte_sync=0.1的情况下能够正常标定。于是想着试一下kalibr...

1. 参照之前博客标定d435i时候的操作，录制数据集

$ rosrun topic_tools throttle messages /camera/stereo/left/image_rect 4.0 /left

这里降频到4Hz录制图像数据集，左右目都录制。这里录制的是通过ros的stereo_image_proc发布出来的rect_image话题。

2. 运行kalibr，这里也不赘述了，参考我之前标定d435i时候的博客，进入到kalibr_ws工作空间下：

$ kalibr_calibrate_cameras --target /home/nan/dev/kalibr_ws/src/kalibr/data/checkerboard.yaml --bag /home/nan/dataset/labdata/diycams.bag --models pinhole-equi pinhole-equi --topics /left /right --show-extraction

 然后报错了：

1569208515.99     -     88
1569208516.23     88     -
1569208516.27     -     88
1569208516.5     88     -
1569208516.53     -     88
1569208516.77     88     -
1569208516.8     -     88
1569208517.04     88     -
Cameras are not connected through mutual observations, please check the dataset. Maybe adjust the approx. sync. tolerance.
Traceback (most recent call last):
  File "/home/nan/dev/kalibr_ws/devel/bin/kalibr_calibrate_cameras", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/nan/dev/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 444, in <module>
    main()
  File "/home/nan/dev/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_calibrate_cameras", line 201, in main
    graph.plotGraph()
  File "/home/nan/dev/kalibr_ws/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/MulticamGraph.py", line 308, in plotGraph
    edge_label=self.G.es["weight"],
KeyError: 'Attribute does not exist'

3. 接下来解决这个报错的问题

 参考链接：https://github.com/shanmo/Kalibr-camera-calibration/tree/master/stereo%20camera%20calibration/preliminary%20test

于是：

$ kalibr_calibrate_cameras --target /home/nan/dev/kalibr_ws/src/kalibr/data/checkerboard.yaml --bag /home/nan/dataset/labdata/diycams.bag --models pinhole-equi pinhole-equi --topics /left /right --show-extraction --approx-sync 0.04 

就正常出结果了