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@Unsigned-Long Unsigned-Long released this 11 Sep 08:07
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Version 2.0.0 » iKalibr Is Comming With Support for RGBD Cameras

🎉 ​RGBD cameras are now supported in iKalibr! It is not an extension of the normal optical cameras already in iKalibr, but a new modeling and calibration method. Because of this, it is no longer necessary to perform time-consuming SfM to calibrate RGBD-Inertial suites (SfM is required when calibrating normal optical camera-IMU suites in iKalibr). The corresponding datasets and codes has been open-sourced and integrated into the new version of iKalibr. Come and try it!

For more details about the newly released RGBD-Inertial calibration method, please refer to our article 👇:

  • S. Chen, X. Li*, S. Li, and Y. Zhou. iKalibr-RGBD: Partially-Specialized Target-Free Visual-Inertial Spatiotemporal Calibration For RGBDs via Continuous-Time Velocity Estimation[J]. arXiv:2409.07116 [cs.RO]. [paper-arXiv]

Other small changes in this version are:

  • fix (a really severe) bug: when both the camera and LiDAR are introduced into iKalibr for calibration, the consistent depth map between the camera and LiDAR can be exported by the user (by specifying the Preference::Outputs::VisualLiDARCovisibility option in the configuration file). The inverse depth image is of type CV_32FC1 and should not be of type PNG when exported to the disk. In the new version, this bug is fixed and the output type is TIFF.
  • For cpp header files with template functions, the description and definition of the template functions are separated to speed up recompilation. At the same time, the implementation of CalibSolver is also separated into multiple source files according to the processing steps to speed up recompilation.
  • Optimize some codes for logic, readability and efficiency.

Attention: Due to the many new features brought by the version update, iKalibr's configuration file have changed significantly. For the existing old configuration files, if you need to use them, please refer to the latest configuration file template and modify them appropriately. This won't take long.

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