Kalibr标定INDEMIND双目相机

INDEMIND这款相机有硬件同步，但是imu的数据还是不够准确，所以还是需要进行标定。虽然出场已经进行过标定，但是数据仍不够准确，而目前也没有针对这款IMU相机的标定教程，所以从Kalibr安装开始，进行双目相机的标定、IMU的标定、相机和IMU联合标定，做以记录。

系统配置

系统：Ubuntu18.04 desktop

camera：INDEMIND相机

一、Kalibr的安装

1、Kalibr的安装

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev

sudo pip install python-igraph --upgrade

2、创建工作空间

mkdir -p ~/kalibr_ws/src

cd ~/kalibr_ws

source /opt/ros/kinetic/setup.bash

catkin init

catkin config --extend /opt/ros/kinetic

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

3、下载Kalibr并编译

cd ~/kalibr_ws/src

git clone https://github.com/ethz-asl/Kalibr.git

cd ~/kalibr_ws

catkin build -DCMAKE_BUILD_TYPE=Release -j4 

4、设置环境变量

source ~/kalibr_ws/devel/setup.bash

二、标定准备

1、准备标定板

标定板可以用 kalibr 提供的pdf，标定板下载地址

这里采用Aprilgrid 6x6 0.8x0.8 m (A0 page)进行标定

2、启动ROS Wrapper

cd IMSEE-SDK/
sudo su #开启权限模式
source ros/devel/setup.bash
roslaunch imsee_ros_wrapper start.launch

3、列出订阅话题

rostopic list

4、录制bag

rosbag record -O stereo_calibra.bag /imsee/image/left /imsee/image/right

5、配置文件

准备april_6x6_80x80cm.yaml文件

target_type: 'aprilgrid' #gridtype
tagCols: 6               #number of apriltags
tagRows: 6               #number of apriltags
tagSize: 0.088           #size of apriltag, edge to edge [m]
tagSpacing: 0.264          #ratio of space between tags to tagSize
codeOffset: 0            #code offset for the first tag in the aprilboard

5、采集好数据集后，用已经安装好的Kalibr保定双目相机

source kalibr_ws/devel/setup.bash
rosrun kalibr kalibr_calibrate_cameras --bag /home/stereo_calibra.bag --topics imsee/image/left imsee/image/right --models pinhole-radtan pinhole-radtan --target /home/kalibr/april_6x6_80x80cm_A0.yaml --show-extraction