![]() ![]() You can generate the camera parameters file using the following command: $ kalibr_calibrate_cameras -bag Kalibr_data.bag -topics /zed/zed_node/left/image_rect_color /zed/zed_node/right/image_rect_color -models pinhole-radtan pinhole-radtan -target april_grid.yaml If they are not similar try to reduce the framerate of the camera changing the parameter frame_rate in the file params/common.yaml. zed/zed_node/right/image_rect_color 2736 msgs : sensor_msgs/Imageīe sure that the left and right image message count is equal or at least very similar. ![]() zed/zed_node/left/image_rect_color 2736 msgs : sensor_msgs/Image Topics: /zed/zed_node/imu/data_raw 71241 msgs : sensor_msgs/Imu You should get an output similar to the following: path: Kalibr_data.bag See this YouTube video as an example:Īt the end of the recording you can check if the rosbag is correct: $ rosbag info Kalibr_data.bag Record the rosbag to be used as Kalibr input: $ rosbag record -O Kalibr_data.bag /zed/zed_node/imu/data_raw /zed/zed_node/left/image_rect_color /zed/zed_node/right/image_rect_colorįor a correct calibration you should provide the following movements:Īll the movements should keep the target in sight. #example: tagSize=2m, spacing=0.5m -> tagSpacing=0.25 Data recording TagSpacing: 0.3 #ratio of space between tags to tagSize TagSize: 0.088 #size of apriltag, edge to edge This is, for example, a target configuration file using tags sized 88 mm and spaced 25 mm: target_type: 'aprilgrid' #gridtype Report the ratio between the "spacing" measure and the tagSize measure in the tagSpacing field: tagSpacing = "spacing"/tagSize Measure the distance between two tags (black line) and write it down as "spacing".Measure the size of a single tag and report the value in meters in the field tagSize.Print one of the Aprilgrid available on the Kalibr wiki and fill the file aprilgrid.yaml with the correct information: Indeed using Aprilgrid, partially visible calibration boards can be used and the pose of the target is fully resolved (no flips), making the data collection a simpler operation. Kalibr supports three different types of calibration target, but using Aprilgrid is suggested. $ rosrun image_view image_view image:=/zed/zed_node/right/image_rect_color & Prepare the calibration target Open a new terminal and enter: $ rosrun image_view image_view image:=/zed/zed_node/left/image_rect_color & Start the ZED Mini node: $ roslaunch zed_wrapper zedm.launchĮnable left and right camera visualization to be sure to keep the target in sight. This way the timestamps of the IMU topics are not bound to the last grabbed frame. Set the parameter imu_timestamp_sync in the file params/zedm.yaml to false.Move to the new folder: $ cd ~/zed-kalibr Install Kalibr following the installation guideĬreate a folder to keep all the data: $ mkdir ~/zed-kalibr This tutorial illustrates how to use the Kalibr software to correctly get the camera/IMU calibration parameters for the ZED mini. ![]()
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