visensor_calibration_results
Use kalibr to calibrate visensor. Step:
1. Make sure visensor config is 20HZ image rate and 200HZ imu rate, agc and aec enabled
2. rosrun visensor_node visensor_node
3. rosbag record -a
4. rosrun kalibr kalibr_calibrate_cameras --target checkerboard.yaml --bag <bagpath> --models pinhole-radtan pinhole-radtan --topics /cam0/image_raw /cam1/image_raw
5. rosrun kalibr kalibr_calibrate_imu_camera --bag <bagpath> --cam camchain-hometimerROS_bags<bagname>.yaml --imu imu.yaml --target checkerboard.yaml
6. cp camchain-imucam-hometimerROS_bags<bagname>.yaml ~/catkin_ws/src/visensor_tools/visensor_calibration_flasher/camchain-imucam-example.yaml
7. roslaunch visensor_calibration_flasher flash_sensor.launch
Use MEI to cali:
- Replace calib.launch
- roslaunch camera_calibration_frontend calib.launch
- Save the images, and extract from /tmp/...tar.gz
- git clone ***/camera_model
- ./cali_vi.sh