D435i相机标定

标定工具安装：

三个包code_utils、imu_utils、kalibr
当时安装链接: https://pan.baidu.com/s/1KkZzfk-QbYjkNvYEaPlZJg 提取码: l215
在工作空间内先将code_utils放进去编译一遍然后放imu_utils编译
kalibr的安装教程官网：https://github.com/ethz-asl/kalibr/wiki/installation
然后标定流程详细看：https://blog.csdn.net/qq_35616298/article/details/116171823
我整理的是这个：

双目相机标定

创建存储标定文件的目录

mkdir -p ~/calibr_data/d435i-0/multi_camera_cali
cd ~/calibr_data/d435i-0/multi_camera_cali

建立标定yaml文件

touch checkerboard.yaml

内容为：

target_type: 'checkerboard'  #gridtype
targetCols: 5                #number of internal chessboard corners
targetRows: 8                #number of internal chessboard corners
rowSpacingMeters: 0.045      #size of one chessboard square [m] //这里要测量标定板方格的大小
colSpacingMeters: 0.045      #size of one chessboard square [m]

录制相机视频为bag包

roslaunch realsense2_camera rs_camera_orb3.launch

rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 4.0 /infra_left & rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 4.0 /infra_right

rosbag record -O mult_cam_d435i /infra_left /infra_right

开始标定

rosrun kalibr kalibr_calibrate_cameras --target checkerboard.yaml --bag mult_cam_d435i.bag --models pinhole-radtan pinhole-radtan --topics /infra_left /infra_right
当重投影误差小于0.1时结果可用

imu标定

用realsense官方标定程序，标定imu的零偏与非正交性，可以直接写入相机内部

cd ~/librealsense/tools/rs-imu-calibration
python rs-imu-calibration.py

用港科大imu_utils标定imu随机游走

imu_utils包下面的launch文件内容：

<launch>
    <node pkg="imu_utils" type="imu_an" name="imu_an" output="screen">
        <param name="imu_topic" type="string" value= "/camera/imu"/>
        <param name="imu_name" type="string" value= "Realsense"/>
        <param name="data_save_path" type="string" value= "$(find imu_utils)/data/"/>
        <param name="max_time_min" type="int" value= "120"/>
        <param name="max_cluster" type="int" value= "100"/>
    </node>
</launch>

录制并标定imu随机游走
roslaunch realsense2_camera rs_camera_orb3.launch
rosbag record -O D435i_imu /camera/imu
roslaunch imu_utils D435i_imuCali.launch
rosbag play -r 400 D435i_imu.bag

imu与双目相机联合标定

roslaunch realsense2_camera rs_camera_orb3.launch
rosrun topic_tools throttle messages /camera/infra1/image_rect_raw 20.0 /infra_left & rosrun topic_tools throttle messages /camera/infra2/image_rect_raw 20.0 /infra_right & rosrun topic_tools throttle messages /camera/imu 200.0 /imu
rosbag record -O imu_stereo.bag /infra_left /infra_right /imu
rosrun kalibr kalibr_calibrate_imu_camera --target checkerboard.yaml --cam camchain-mult_cam_d435i.yaml --imu imu.yaml --bag imu_stereo.bag