-
rosbag record /imu0 -O imu.bag
-
rosrun bagconvert bagconvert imu.bag /imu0
-
Run the included matlab scripts to generate an allan
deviation plot for the readings
SCRIPT_allan_matparallel.m
- Interpret the generated charts to find noise values
SCRIPT_process_result.m
-
rosrun topic_tools throttle messages <in_topic> 4.0 [out_topic]
-
rosrun image_view image_view image:=/cam0/image_raw
-
rosbag record /cam0/image_raw /cam1/image_raw -O static.bag
-
rosrun image_view image_view image:=/cam0/image_raw
-
rosbag record /cam0/image_raw /cam1/image_raw /imu0 -O dynamic.bag
动态标定的chain.yml 是 静态标定 产生的 动态标定需加 --time-calibration
-
kalibr_calibrate_cameras --models pinhole-equi pinhole-equi --topics /cam0/image_raw /cam1/image_raw --bag static.bag --target aprilgrid_6x6.yaml
-
kalibr_calibrate_imu_camera --cam chain.yaml --target aprilgrid_6x6.yaml --imu imu0.yaml --bag dynamic.bag --time-calibration
https://github.com/ethz-asl/maplab/wiki/Initial-sensor-calibration-with-Kalibr
There are many tools to generate config for popular slam algorithm.
https://github.com/ethz-asl/kalibr/tree/master/aslam_offline_calibration/kalibr/python/exporters
example:
rosrun kalibr kalibr_maplab_config --to-ncamera --label <your_label> --cam <your_cam_chain_yaml>