Kalibr: a tool for calibrating camera and IMU

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1. Installation

(1) Using the CDE package
(2) Building from source

 2. Camera calibration

(1) Prepare a calibration target.
(2) Prepare a image bag file & target.yaml file

Command:
./kalibr_calibrate_cameras --target april_intel.yaml --bag rgb_mono.bag --model pinhole-equi --topics /camera/rgb/image_mono

Output:
  • camchain-%BAGNAME%.yaml
  • results-cam-%BAGNAME%.txt
  • report-cam-%BAGNAME%.pdf

3. Find IMU parameters

(1) From product datasheet (ex: BMI160)
(2) From the Allan standard deviation (AD)

4. Camera IMU calibration

Command:
./kalibr_calibrate_imu_camera --target april_intel.yaml --cam camchain-homenamikidrone2kalibr-cdergb_mono.yaml --imu imu_intel.yaml --bag rgb_mono_imu.bag


5. Convert calibration results to the accessible files in the maplab

(1) Building from source
*source ~/kalibr_workspace/devel/setup.bash

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