---
# System prepended metadata

title: Kalibr
tags: [visual, winter_camp, tutorial]

---

Kalibr
===
###### tags: `visual` `tutorial` `winter_camp`
# 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
```
#### command:
```
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
```
