小觅相机标定记录

过程记录

硬件：
小觅相机，具体型号未知，需后续查找询问。
ubuntu20.04
kalibr

双目相机标定

打开相机

source ~/tools/MYNT_EYE/MYNT_EYE_D/wrapper/ros/devel/setup.bash
roslaunch mynteye_wrapper_d display.launch

降低采样频率

rosrun topic_tools throttle messages /mynteye/left/image_color 4.0 /left
rosrun topic_tools throttle messages /mynteye/right/image_color 4.0 /right

录制数据包

rosbag record -O stereo_calib.bag /left /right

标定

rosrun kalibr kalibr_calibrate_cameras --target /home/robot/toniht_ws/apriltag_6x6.yaml --bag /home/robot/toniht_ws/bags/kalibr/231016/stereo_calib.bag --model pinhole-radtan pinhole-radtan --topic /left /right --show-extraction --show-extraction --approx-sync 0.1

ERROR 1:
[ERROR] [1697443109.712359]: The cameras are not connected through mutual target observations! Please provide another dataset…
Traceback (most recent call last):

FIX:
根据博客：relasense D435i报错 stream: infrared, stream index:
说是图片采集的不够多.我采了一次900+报该错误，第二次采了1000+，得到了结果。

第二周，因为第一次标定结果(随手使用A4纸打印的标定板)不理想，所以拿实验室的大的正规标定板重新标定。采集了1600+张图片，依旧报该错误。

根据RealSense T265相机使用及运行ORB-SLAM3，认为是采样频率太低，–approx-sync 0.04不满足，改为–approx-sync 0.1。得到了结果(尝试过去除–approx-sync参数，也报错)。

双目相机+imu联合标定

打开相机

source ~/tools/MYNT_EYE/MYNT_EYE_D/wrapper/ros/devel/setup.bash
roslaunch mynteye_wrapper_d display.launch

降低采样频率

rosrun topic_tools throttle messages /mynteye/left/image_color 2.0 /left
rosrun topic_tools throttle messages /mynteye/right/image_color 2.0 /right
rosrun topic_tools throttle messages /mynteye/imu/data_raw 200.0 /imu

录制数据包

rosbag record -O stereo_calib_imu.bag /left /right /imu

标定

rosrun kalibr kalibr_calibrate_imu_camera --target /home/robot/toniht_ws/apriltag_6x6.yaml --bag /home/robot/toniht_ws/bags/kalibr/231016/stereo_calib_imu.bag --cam /home/robot/toniht_ws/bags/kalibr/231016/stereo_calib-camchain.yaml --imu /home/robot/toniht_ws/imu_catkin_ws/src/imu_utils/data/mynteye_imu_calibr.yaml