一、IMU标定
1.1下载code_utils、imu_utils
//安装依赖
sudo apt-get install libdw-dev
//安装code_utils
mkdir -p imu_ws/src
cd ~/imu_ws/src
git clone git@github.com:gaowenliang/code_utils.git
cd ..
catkin_make
如果报错backward.hpp没有找到,将sumpixel_test.cpp中# include "backward.hpp"改为:#include “code_utils/backward.hpp”
1.2一定等code_utils编译完成后,再下载安装imu_utils
cd ~/imu_ws/src/
git clone git@github.com:gaowenliang/imu_utils.git
cd ..
catkin_make
在/imu_utils/launch/文件夹下面添加一个D455_imuCali.launch,内容如下:
<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= "100"/>
<param name="max_cluster" type="int" value= "100"/>
</node>
</launch>
max_time_min:标定最短时长,可以自行更改,要比实际录制短(建议录制120分钟)。
data_save_path:保存文件的地址
1.3录制话题
首先配置D455启动文件,将rs_camera.launch里改为如下内容,将将accel和gyro的数据合并得到imu话题
<arg name="unite_imu_method" default="linear_interpolation"/>
<arg name="gyro_fps" default="200"/>
<arg name="accel_fps" default="100"/>
<arg name="enable_gyro" default="true"/>
<arg name="enable_accel" default="true"/>
<arg name="enable_sync" default="true"/>
打开相机
roslaunch realsense2_camera rs_camera.launch
记录话题,将设备静止不动,录制两个小时的rosbag。
rosbag record -O D455_imu /camera/imu
1.5 标定
400倍速回放rosbag,并运行launch文件进行标定
roslaunch imu_utils D455_imuCali.launch
rosbag play -r 400 D455_imu.bag
我的相机标定结果如下:
%YAML:1.0
---
type: IMU
name: Realsense
Gyr:
unit: " rad/s"
avg-axis:
gyr_n: 2.8260834273707305e-03
gyr_w: 1.0524392205451450e-04
x-axis:
gyr_n: 4.1612806190283900e-03
gyr_w: 2.6277878907964784e-04
y-axis:
gyr_n: 3.0326785705306705e-03
gyr_w: 4.4536289529683372e-05
z-axis:
gyr_n: 1.2842910925531309e-03
gyr_w: 8.4166875542122832e-06
Acc:
unit: " m/s^2"
avg-axis:
acc_n: 1.2291998294860730e-02
acc_w: 2.9433108833622326e-04
x-axis:
acc_n: 1.2614106414887328e-02
acc_w: 3.3853613052628435e-04
y-axis:
acc_n: 1.1447152083785998e-02
acc_w: 2.8786444017704188e-04
z-axis:
acc_n: 1.2814736385908862e-02
acc_w: 2.5659269430534356e-04