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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Calibration of 4 cameras facing front, left, right, and back, all pointed outwards from a central point #636

Closed vichan7 closed 1 year ago

vichan7 commented 1 year ago

Hi! I want to calibrate 4 cameras attached to a robot as described in the title. How do you suggest going about this? Would it be possible to use multiple rosbag files (one for each pair of cameras)? Or would it be better to collect one rosbag where the chessboard is rotated around the robot?

Atohme commented 1 year ago

Hi, I would suggest you get the parameters of each camera, i.e. distortion and intrinsic. Then calibrate each camera with your IMU (independently). This way you will have every transformation of each camera to your imu. then you can enter these parameters in the configuration file. Hope this helps.

goldbattle commented 1 year ago

Kalibr requires overlapping FOV, so in this case what Atohme has suggested is the only way to go about calibrating the relative transformation between each (e.g. relate them all through the IMU).

On Fri, Aug 25, 2023 at 5:22 AM Atohme @.***> wrote:

Hi, I would suggest you get the parameters of each camera, i.e. distortion and intrinsic. Then calibrate each camera with your IMU (independently). This way you will have every transformation of each camera to your imu. then you can enter these parameters in the configuration file. Hope this helps.

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