录制Android手机的图像和IMU数据,标定并运行VINS-Mono
手机采集图像和IMU数据 https://github.com/hitcm/Android_Camera-IMU
Kalibr(用于标定cam和cam+imu) https://github.com/ethz-asl/kalibr
imu_utils(用于标定imu) https://github.com/gaowenliang/imu_utils
单目cam标定
rosrun kalibr kalibr_calibrate_cameras --bag /home/xx/camimu.bag --topics /cam0/image_raw --models pinhole-radtan --target /home/xx/aprilgrid.yaml
imu标定
roslaunch imu_utils android.launch
rosbag play imu.bag
cam+imu标定
rosrun kalibr kalibr_calibrate_imu_camera --bag /home/xx/camimu.bag --target /home/xx/aprilgrid.yaml --cam /home/xx/camchain.yaml --imu /home/xx/imu.yaml
#测试 将上述所有cam和imu相关内参和外参,写入vins-mono的config文件中,进行测试。
roslaunch vins_estimator android.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play camimu.bag