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feat: kalibrated
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‎.gitignore

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*/*.bag

‎README.md

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# ZED2i Camera Calibration
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## Dependencies
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[ZED SDK](https://www.stereolabs.com/developers/release)
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[Kalibr](https://github.com/ethz-asl/kalibr)
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## Calibration
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- Generate aprilgrid and target.yaml
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- Bump zed_wrapper resolution to 1080p
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- Run `kalibr_record.sh`
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- Run `kalibr_calibrate_mcc.sh zed2i.bag`
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- Run `kalibr_calibrate_imu.sh zed2i.bag camchain.yaml`
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## Errors
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- [kalibr_calibrate_imu_camera : Optimization failed](https://github.com/ethz-asl/kalibr/issues/41)
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## References
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- [Kalibr Wiki](https://github.com/ethz-asl/kalibr/wiki/)
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- [ZED2i datasheet](https://www.stereolabs.com/assets/datasheets/zed-2i-datasheet-feb2022.pdf)

‎aprilgrid.pdf

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‎assets/2022-10-08-00-57-54-camchain-imucam.yaml

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cam0:
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T_cam_imu:
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- [0.20491451916597242, -0.9383621898209672, -0.27836386358394105, -0.1871957524572456]
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- [0.17218276494676943, 0.3145228428207421, -0.9335033351837827, -0.202849959743378]
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- [0.9635160275212163, 0.14335892737586797, 0.22602009346820634, 0.30889113677880975]
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- [0.0, 0.0, 0.0, 1.0]
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cam_overlaps: [1]
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camera_model: pinhole
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distortion_coeffs: [0.39966946154803484, 0.463531463471755, 144.48847522150243, -2417.061665773314]
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distortion_model: equidistant
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intrinsics: [1713.9143864069194, 1731.0495429117157, 307.32895208006624, 250.9605778429886]
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resolution: [960, 540]
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rostopic: /zed2i/zed_node/right_raw/image_raw_color
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timeshift_cam_imu: 0.013429007190913361
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cam1:
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T_cam_imu:
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- [0.1805735337435404, -0.9412174966060454, -0.2854869926879675, -0.061896519862077226]
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- [0.17643334344952205, 0.3165474125408502, -0.9320241471833849, -0.2011406036960496]
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- [0.9676076034377745, 0.11792946915992608, 0.22322223471926933, 0.309902044845798]
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- [0.0, 0.0, 0.0, 1.0]
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T_cn_cnm1:
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- [0.9996743123417962, 0.0015603073968219153, -0.025472233604089525, 0.13342292073582038]
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- [-0.001440526912694867, 0.9999878228513484, 0.004720066867218399, -2.0761426428970212e-05]
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- [0.025479288180160896, -0.004681836161660715, 0.9996643868238902, 0.004934480248516449]
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- [0.0, 0.0, 0.0, 1.0]
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cam_overlaps: [0]
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camera_model: pinhole
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distortion_coeffs: [0.20651699541056007, 0.2957692962102138, 44.9944228499361, -359.4542014801639]
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distortion_model: equidistant
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intrinsics: [1738.7909891212125, 1747.9754745146804, 366.02468479684694, 238.9106672375295]
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resolution: [960, 540]
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rostopic: /zed2i/zed_node/left_raw/image_raw_color
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timeshift_cam_imu: 0.012782112373362825

‎assets/2022-10-08-00-57-54-camchain.yaml

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cam0:
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cam_overlaps: [1]
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camera_model: pinhole
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distortion_coeffs: [0.39966946154803484, 0.463531463471755, 144.48847522150243, -2417.061665773314]
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distortion_model: equidistant
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intrinsics: [1713.9143864069194, 1731.0495429117157, 307.32895208006624, 250.9605778429886]
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resolution: [960, 540]
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rostopic: /zed2i/zed_node/right_raw/image_raw_color
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cam1:
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T_cn_cnm1:
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- [0.999674312341795, 0.001560307396821915, -0.02547223360408952, 0.13342292073582038]
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- [-0.0014405269126948669, 0.9999878228513472, 0.004720066867218397, -2.0761426428970212e-05]
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- [0.02547928818016089, -0.0046818361616607134, 0.9996643868238891, 0.004934480248516449]
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- [0.0, 0.0, 0.0, 1.0]
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cam_overlaps: [0]
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camera_model: pinhole
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distortion_coeffs: [0.20651699541056007, 0.2957692962102138, 44.9944228499361, -359.4542014801639]
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distortion_model: equidistant
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intrinsics: [1738.7909891212125, 1747.9754745146804, 366.02468479684694, 238.9106672375295]
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resolution: [960, 540]
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rostopic: /zed2i/zed_node/left_raw/image_raw_color

‎assets/2022-10-08-00-57-54-imu.yaml

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imu0:
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T_i_b:
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- [1.0, 0.0, 0.0, 0.0]
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- [0.0, 1.0, 0.0, 0.0]
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- [0.0, 0.0, 1.0, 0.0]
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- [0.0, 0.0, 0.0, 1.0]
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accelerometer_noise_density: 0.0016
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accelerometer_random_walk: 0.0002509
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gyroscope_noise_density: 0.00012217304763960306
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gyroscope_random_walk: 3.398854185333757e-05
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model: calibrated
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rostopic: /zed2i/zed_node/imu/data_raw
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time_offset: 0.0
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update_rate: 400.0

‎assets/2022-10-08-00-57-54-report-cam.pdf

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‎assets/2022-10-08-00-57-54-report-imucam.pdf

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‎assets/2022-10-08-00-57-54-results-cam.txt

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Calibration results
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====================
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Camera-system parameters:
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cam0 (/zed2i/zed_node/right_raw/image_raw_color):
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type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
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distortion: [ 0.39966946 0.46353146 144.48847522 -2417.06166577] +- [0.03477123 0.60426411 0.09470205 0.01042813]
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projection: [1713.91438641 1731.04954291 307.32895208 250.96057784] +- [0.50091219 0.87957026 3.25426851 2.06066098]
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reprojection error: [-0.000341, -0.000213] +- [1.013732, 0.956983]
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cam1 (/zed2i/zed_node/left_raw/image_raw_color):
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type: <class 'aslam_cv.libaslam_cv_python.EquidistantDistortedPinholeCameraGeometry'>
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distortion: [ 0.206517 0.2957693 44.99442285 -359.45420148] +- [0.01936849 0.17706955 0.49900956 0.08315889]
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projection: [1738.79098912 1747.97547451 366.0246848 238.91066724] +- [1.02632685 0.78708899 0.72086017 2.67523907]
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reprojection error: [-0.000100, -0.000261] +- [0.945557, 0.858031]
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baseline T_1_0:
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q: [0.00235067 0.01273895 0.00075027 0.99991581] +- [0.00157382 0.0022139 0.00017778]
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t: [ 0.13342292 -0.00002076 0.00493448] +- [0.00030146 0.00023496 0.00090939]
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Target configuration
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====================
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Type: aprilgrid
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Tags:
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Rows: 4
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Cols: 3
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Size: 0.055 [m]
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Spacing 0.012485000000000001 [m]

‎assets/2022-10-08-00-57-54-results-imucam.txt

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Calibration results
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===================
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Normalized Residuals
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----------------------------
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Reprojection error (cam0): mean 2.1080386866599587, median 1.707054700247669, std: 4.397413420058306
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Reprojection error (cam1): mean 2.0178707999763503, median 1.6358700065926572, std: 1.587350090015915
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Gyroscope error (imu0): mean 2.2024128676638366, median 1.8006662074163826, std: 1.5134376836795942
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Accelerometer error (imu0): mean 3.184769154578532, median 2.268581467209623, std: 2.769548699057428
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Residuals
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----------------------------
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Reprojection error (cam0) [px]: mean 2.1080386866599587, median 1.707054700247669, std: 4.397413420058306
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Reprojection error (cam1) [px]: mean 2.0178707999763503, median 1.6358700065926572, std: 1.587350090015915
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Gyroscope error (imu0) [rad/s]: mean 0.005381509844063374, median 0.004399857566834101, std: 0.003698025884555151
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Accelerometer error (imu0) [m/s^2]: mean 0.10191261294651303, median 0.07259460695070794, std: 0.08862555836983768
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Transformation (cam0):
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-----------------------
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T_ci: (imu0 to cam0):
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[[ 0.20491452 -0.93836219 -0.27836386 -0.18719575]
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[ 0.17218276 0.31452284 -0.93350334 -0.20284996]
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[ 0.96351603 0.14335893 0.22602009 0.30889114]
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[ 0. 0. 0. 1. ]]
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T_ic: (cam0 to imu0):
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[[ 0.20491452 0.17218276 0.96351603 -0.22433517]
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[-0.93836219 0.31452284 0.14335893 -0.15613877]
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[-0.27836386 -0.93350334 0.22602009 -0.31128525]
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[ 0. 0. 0. 1. ]]
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timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
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0.013429007190913361
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Transformation (cam1):
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-----------------------
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T_ci: (imu0 to cam1):
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[[ 0.18057353 -0.9412175 -0.28548699 -0.06189652]
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[ 0.17643334 0.31654741 -0.93202415 -0.2011406 ]
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[ 0.9676076 0.11792947 0.22322223 0.30990204]
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[ 0. 0. 0. 1. ]]
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T_ic: (cam1 to imu0):
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[[ 0.18057353 0.17643334 0.9676076 -0.25319879]
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[-0.9412175 0.31654741 0.11792947 -0.03113413]
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[-0.28548699 -0.93202415 0.22322223 -0.27431558]
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[ 0. 0. 0. 1. ]]
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timeshift cam1 to imu0: [s] (t_imu = t_cam + shift)
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0.012782112373362825
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Baselines:
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----------
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Baseline (cam0 to cam1):
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[[ 0.99967431 0.00156031 -0.02547223 0.13342292]
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[-0.00144053 0.99998782 0.00472007 -0.00002076]
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[ 0.02547929 -0.00468184 0.99966439 0.00493448]
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[ 0. 0. 0. 1. ]]
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baseline norm: 0.13351413896676573 [m]
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Gravity vector in target coords: [m/s^2]
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[ 2.65506463 -9.28080635 1.72791444]
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Calibration configuration
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=========================
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cam0
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-----
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Camera model: pinhole
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Focal length: [1713.9143864069194, 1731.0495429117157]
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Principal point: [307.32895208006624, 250.9605778429886]
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Distortion model: equidistant
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Distortion coefficients: [0.39966946154803484, 0.463531463471755, 144.48847522150243, -2417.061665773314]
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Type: aprilgrid
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Tags:
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Rows: 4
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Cols: 3
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Size: 0.055 [m]
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Spacing 0.012485000000000001 [m]
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cam1
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-----
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Camera model: pinhole
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Focal length: [1738.7909891212125, 1747.9754745146804]
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Principal point: [366.02468479684694, 238.9106672375295]
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Distortion model: equidistant
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Distortion coefficients: [0.20651699541056007, 0.2957692962102138, 44.9944228499361, -359.4542014801639]
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Type: aprilgrid
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Tags:
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Rows: 4
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Cols: 3
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Size: 0.055 [m]
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Spacing 0.012485000000000001 [m]
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IMU configuration
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=================
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IMU0:
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----------------------------
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Model: calibrated
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Update rate: 400.0
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Accelerometer:
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Noise density: 0.0016
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Noise density (discrete): 0.032
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Random walk: 0.0002509
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Gyroscope:
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Noise density: 0.00012217304763960306
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Noise density (discrete): 0.002443460952792061
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Random walk: 3.398854185333757e-05
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T_ib (imu0 to imu0)
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[[1. 0. 0. 0.]
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[0. 1. 0. 0.]
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[0. 0. 1. 0.]
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[0. 0. 0. 1.]]
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time offset with respect to IMU0: 0.0 [s]
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‎imu.yaml

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# imu.yaml for ZED2i
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#Accelerometers
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accelerometer_noise_density: 1.6e-03 #Noise density (continuous-time)
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accelerometer_random_walk: 2.509e-4 #Bias random walk
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#Gyroscopes
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gyroscope_noise_density: 1.2217304763960306e-4 #Noise density (continuous-time)
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gyroscope_random_walk: 3.398854185333757e-05 #Bias random walk
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rostopic: /zed2i/zed_node/imu/data_raw #IMU ROS topic
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update_rate: 400.0 #Hz (for discretization of the values above)

‎kalibr_calibrate_imu.sh

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#! /bin/bash
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rosrun kalibr kalibr_calibrate_imu_camera --bag $1 --cam $2 --imu imu.yaml --target target.yaml --timeoffset-padding 0.01
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‎kalibr_calibrate_mcc.sh

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#! /bin/bash
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rosrun kalibr kalibr_calibrate_cameras --bag $1 --topics /zed2i/zed_node/right_raw/image_raw_color /zed2i/zed_node/left_raw/image_raw_color --models pinhole-equi pinhole-equi --target target.yaml
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‎kalibr_record.sh

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#! /bin/bash
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terminator --new-tab --title=roscore --execute roscore &
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terminator --new-tab --title=zed_wrapper --execute roslaunch zed_wrapper zed2i.launch &
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terminator --new-tab --title=rviz --execute rviz -d zed2i.rviz &
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terminator --new-tab --title=record --execute rosbag record /zed2i/zed_node/right_raw/image_raw_color /zed2i/zed_node/left_raw/image_raw_color /zed2i/zed_node/imu/data_raw

‎target.yaml

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target_type: 'aprilgrid'
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tagCols: 3
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tagRows: 4
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tagSize: 0.055
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tagSpacing: 0.227

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