camera-imu和使用kalibr标定

引用自网址Kalibr-zed，稍有修改

1.Preliminar operations

install kalibr following the installation guide
create folder to keep all the data:

$ mkdir ~/zed-kalibr

start the ZED node:

$ roslaunch zed_wrapper zedm.launch

enable left and right camera visualization to be sure to keep the target in sight. Open a new terminal and enter

//record unrectied raw image
$ rosrun image_view image_view image:=/zed/zed_node/left_raw/image_raw_color
$ rosrun image_view image_view image:=/zed/zed_node/right_raw/image_raw_color

2.Data recording

record the rosbag to be used as Kalibr input:

$ rosbag record -O Kalibr_data.bag /imu/data_lpms /zed/zed_node/left_raw/image_raw_color /zed/zed_node/right_raw/image_raw_color

For a correct calibration you should provide the following movements:

Pitch rotation
Yaw rotation
Roll rotation
Up/Down translation
Left/Right translation
Forward/Backward translation
A series of random movement

3 get the camera parameters

You can generate the camera parameters file using the following command:

//record unrectied raw image
$ kalibr_calibrate_cameras --bag Kalibr_data.bag --topics /zed/zed_node/left_raw/image_raw_color /zed/zed_node/right_raw/image_raw_color --models pinhole-radtan pinhole-radtan --target april_grid.yaml

When the elaboration is complete (it takes many minutes according to the number of image acquired) you will get the file camchain-Kalibr_data.yaml and a full PDF report of the result of the calibration.

4 set IMU parameters

Create a file named imu-params.yaml

$ gedit imu-params.yaml

and fill it with the following content:

#Accelerometers
accelerometer_noise_density: 1.4e-03   #Noise density (continuous-time)
accelerometer_random_walk:   8.0e-05   #Bias random walk

#Gyroscopes
gyroscope_noise_density:     8.6e-05   #Noise density (continuous-time)
gyroscope_random_walk:       2.2e-06   #Bias random walk

rostopic:                    /zed/zed_node/imu/data_raw      #the IMU ROS topic
update_rate:                 800.0     #Hz (for discretization of the values above)

Note: the update_rate value must match the value of the parameter imu_pub_rate in the file params/zedm.yaml.

5.Camera/IMU calibration

You can get the final camera/IMU calibration executing the following command:

$ kalibr_calibrate_imu_camera --bag Kalibr_data.bag --cam camchain-Kalibr_data.yaml --imu imu-params.yaml --target april_grid.yaml