Kalibr === ###### tags: `visual` # installation https://github.com/ethz-asl/kalibr/wiki/installation ``` cd ~/kalibr_workspace/src git clone https://github.com/ethz-asl/Kalibr.git cd /kalibr_workspace catkin_make pip install python-igraph ``` replacing line 8 ``` vim Schweizer-Messer/sm_python/python/sm/PlotCollection.py matplotlib.backends.backend_wxagg import NavigationToolbar2Wx as Toolbar by from matplotlib.backends.backend_wx import NavigationToolbar2Wx as Toolbar ``` # video tutorial {%youtube puNXsnrYWTY%} # 相機校正 #### need file april_6x6_80x80cm.yaml ``` target_type: 'aprilgrid' #gridtype tagCols: 6 #number of apriltags tagRows: 6 #number of apriltags tagSize: 0.0215 #size of apriltag, edge to edge [m] tagSpacing: 0.3 #ratio of space between tags to tagSize ``` imu.yaml ``` rostopic: /imu/data_raw update_rate: 200.0 #Hz accelerometer_noise_density: 0.4 #continous accelerometer_random_walk: 0.05 gyroscope_noise_density: 0.04 #continous gyroscope_random_walk: 4.0e-05 ``` #### command: 1. calib camera ``` rosrun kalibr kalibr_calibrate_cameras --target april_6x6_80x80cm.yaml --bag 2021-01-09-15-48-07.bag --models pinhole-equi --topics /arducam/triggered/camera/image_raw ``` 2. calib relation ship between camera and IMU ``` rosrun kalibr_calibrate_imu_camera --target 'file name of april tag yaml ' --bag 'your bag' --cam 'the file create by step 1' --imu 'name of imu yaml fle' ```