可以使用Kalibr提供的标定验证工具kalibr_camera_validator来对标定结果进行验证。该工具通过对重投影误差进行量化分析来评估标定的准确性。 bash rosrun kalibr kalibr_camera_validator --cam camchain.yaml --target target.yaml 实际测试: 将标定后的相机应用到实际场景中,通过对比实际测量结果与标定结果来验证标定...
First, you should run the kalibr_camera_validator instead of via rosrun, run via python (I used python3 but I have tried python2 and that also works) python3 kalibr_camera_validator --cam camchain.yaml --target target.yaml Also, the person who created the issue has a really long path...
我们可以使用calibration validator进行标定的验证,原理是对重投影误差进行量化分析。大家可以自行验证。工具使用上一步骤的camera标定结果以及标定板的yaml文件,具体命令如下: kalibr_camera_validator --cam camchain.yaml --target target.yaml 若对相机标定结果满意我们可以继续进行camera以及imu的联合标定步骤,此步使用了...
kalibr_camera_validator --chain chain.yaml --target aprilgrid_6x6.yaml step 3) camera-imu calibration kalibr_calibrate_imu_camera --cam chain.yaml --target aprilgrid_6x6.yaml --imu imu0.yaml --bag [ROS bag file] Trouble shooting no module named 'igraph' # i) if you use vanilla Py...
A color bar, which has a series of bars with different colors to calibrate the camera’s sensor. An edge target, which consists of an even line on one side and an uneven line on the other. The camera can be calibrated by looking at where these two lines meet. ...
Visual-Inertial Calibration (CAM-IMU): Spatial and temporal calibration of an IMU w.r.t a camera-system along with IMU intrinsic parameters Multi-Inertial Calibration (IMU-IMU): Spatial and temporal calibration of an IMU w.r.t a base inertial sensor along with IMU intrinsic parameters (require...
A video tutorial for the IMU-camera calibration can be found here: (Credits: @indigomega) How to use it The intrinsic parameters of the IMU (e.g. scales, axis misalignment, nonlinearities,...) need to be calibrated beforehand and its correction applied to the raw measurements. If not, on...
Visual-Inertial Calibration (CAM-IMU): Spatial and temporal calibration of an IMU w.r.t a camera-system along with IMU intrinsic parameters Multi-Inertial Calibration (IMU-IMU): Spatial and temporal calibration of an IMU w.r.t a base inertial sensor along with IMU intrinsic parameters (require...
kalibr_camera_validator kalibr_create_target_pdf kalibr_visualize_calibration kalibr_visualize_distortion src test CMakeLists.txt package.xml setup.py aslam_optimizer catkin_simple opencv2_catkin .gitignore Dockerfile_ros1_16_04 Dockerfile_ros1_18_04 ...
Calibration-validator.md LICENSE Multiple-camera-calibration.md README.md Repository files navigation README License Ubuntu 14.04+ROS indigo: Ubuntu 16.04+ROS kinetic: Introduction Kalibr is a toolbox that solves the following calibration problems: Multiple camera calibration: intrinsic and extrinsi...