kalibr使用笔记

官网

GitHub - ethz-asl/kalibr: The Kalibr visual-inertial calibration toolboxThe Kalibr visual-inertial calibration toolbox. Contribute to ethz-asl/kalibr development by creating an account on GitHub.https://github.com/ethz-asl/kalibr

编译

编译kalibr的Bug:

fatal error: libv4l2.h: 没有那个文件或目录

sudo apt install libv4l-dev  (专门用来处理视频图像)

标定过程

Kalibr标定完整过程（相机用的小觅深度系列相机）_超超512的博客-CSDN博客_kalibr标定https://blog.csdn.net/u010056641/article/details/105665309

 生成标定板

支持checkerboard和apriltag：

参考https://github.com/ethz-asl/kalibr/wiki/calibration-targets

使用Aprilgrid的好处：

partially visible calibration boards can be used ；pose of the target is fully resolved (no flips)

运行kalibr_create_target_pdf –h

报错：ImportError: No module named pyx

生成棋盘格会有报错，因为作者写的提示代码少了-，最后应为

kalibr_create_target_pdf --type checkerboard --nx 6 --ny 6 --csx 0.05 --csy 0.1

根据打印后的棋盘格，编辑标定板信息，文件名april_6x6.yaml

#example for aprilgrid

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: 0.3 #ratio of space between tags to tagSize

#example: tagSize=2m, spacing=0.5m --> tagSpacing=0.25[-]

#example for checkerboard