RTEI-Calib

A Targetless Rotation and Temporal Calibration Framework for Event Camera/IMU

News

This code repository is open source at 7/9, 2024.

Code Struture

The whole project is a ROS (only tested on Ubuntu 20.04 noetic) workspace. It contains three ros packages:

catkin_simple: the module makescatkin packages simpler
rpg_dvs_ros: C++ driver for Dynamic Vision Sensors (DVS/DAVIS)
rtei_calib: the main package to solve calibration issue

System Overview

Boot RTEI-Calib

Prerequisites
- install ROS (for Ubuntu 20.04):
```
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
  note that the 'OpenCV' and 'PCL' libraries are integrated into it.
- install Ceres:
```
sudo apt-get install libceres-dev
```
- install yaml-cpp:
```
sudo apt-get install libyaml-cpp-dev
```
- install Sophus:
  
  see the GitHub Profile of Sophus library, clone it, compile it, and install it.
- install magic-enum:
  
  see the GitHub Profile of magic-enum library, clone it, compile it, and install it.
- install fmt:
```
sudo apt-get install libfmt-dev
```
- install icecream-cpp:
  
  see the GitHub Profile of icecream-cpp library, clone it, compile it, and install it.
- install Cereal:
```
sudo apt-get install libcereal-dev
```
Install
- Git clone RTEI-Calib to "path"
- Source RTEI-Calib in "path":
```
catkin build
```

Run public dataset

The proposed method is tested on the three sequences of ECD dataset:

To run our method on these sequences, change the term "value=XXXX" in file "config/rtei-calib.launch" to "value="$(find rtei_calib)/config/rtei-config-public.yaml""

Source it and Just run it! "roslaunch rtei_calib rtei_calib.launch"

Run self-collected dataset

One of the self-collected sequences are available here.

To run our method on this sequence, change the term "value=XXXX" in file "config/rtei-calib.launch" to "value="$(find rtei_calib)/config/rtei-config-self.yaml""