ethz-asl/kalibr
GitHub: ethz-asl/kalibr
Kalibr 是用于解决视觉与惯性传感器时空联合内参与外参标定的工具箱。
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## 介绍
Kalibr 是一个用于解决以下校准问题的工具箱：
1. **多摄像头校准**：对具有非全局共享视野的摄像头系统进行内参和外参校准，支持广泛的 [摄像头模型](https://github.com/ethz-asl/kalibr/wiki/supported-models)。
2. **视觉-惯性校准（CAM-IMU）**：对 IMU 与摄像头系统进行空间和时间校准，同时校准 IMU 的内参。
3. **多惯性校准（IMU-IMU）**：对 IMU 与基准惯性传感器进行空间和时间校准，同时校准 IMU 的内参（需要 1 个辅助摄像头传感器）。
4. **滚动快门摄像头校准**：对滚动快门摄像头进行完整的内参校准（投影、畸变和快门参数）。
按照 [安装维基页面](https://github.com/ethz-asl/kalibr/wiki/installation) 的说明进行安装，您可以使用 Docker 或在 ROS 工作空间中从源代码安装。
请参考该 [仓库的维基页面](https://github.com/ethz-asl/kalibr/wiki) 获取更多信息。
如有问题或建议，请在 Github 上打开一个 issue。
## 新闻 / 事件
* **2022年11月24日** - 为生成的报告新增轨迹和 IMU 速率的可视化，并修复了将姿态导出到文件的支持（参见 PR [#578](https://github.com/ethz-asl/kalibr/pull/578),[#581](https://github.com/ethz-asl/kalibr/pull/581),[#582](https://github.com/ethz-asl/kalibr/pull/582)）
* **2022年5月3日** - 增加了对 Ubuntu 20.04 的支持以及 Docker 脚本，并通过 PR [#515](https://github.com/ethz-asl/kalibr/pull/515) 合并到主分支。大量工作是将 Python 升级到 3 版本。特别感谢为此做出贡献的所有贡献者。此外，还合并了对不同验证和可视化脚本的修复。
* **2020年2月3日** - 通过 PR [#241](https://github.com/ethz-asl/kalibr/pull/241) 合并了初始的 Ubuntu 18.04 支持。此外，在无法初始化焦距时，可以从命令行提供焦距的初始猜测值。
* **2018年8月15日** - 通过 PR [#210](https://github.com/ethz-asl/kalibr/pull/210) 将双球面摄像头模型贡献到该仓库。如果您感兴趣，可以参考 [论文](https://arxiv.org/abs/1807.08957) 了解仓库中模型的概述。
* **2016年8月25日** - 通过 PR [#65](https://github.com/ethz-asl/kalibr/pull/65) 添加了滚动快门摄像头校准支持。[论文](https://www.cv-foundation.org/openaccess/content_cvpr_2013/papers/Oth_Rolling_Shutter_Camera_2013_CVPR_paper.pdf) 为对此感兴趣的人提供了详细信息。
* **2016年5月18日** - 发布了对多 IMU 到 IMU 空间校准和 IMU 内参校准的支持。
* **2014年6月18日** - 仓库的初始公开发布。
## 作者
* Paul Furgale
* Hannes Sommer
* Jérôme Maye
* Jörn Rehder
* Thomas Schneider ([email](thomas.schneider@voliro.com))
* Luc Oth
## 参考文献
Kalibr 使用的校准方法基于以下论文。在使用该工具箱或其部分进行学术发表时，请引用相应的论文。
1. Joern Rehder, Janosch Nikolic, Thomas Schneider, Timo Hinzmann, Roland Siegwart (2016). Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 4304-4311, Stockholm, Sweden.
2. Paul Furgale, Joern Rehder, Roland Siegwart (2013). Unified Temporal and Spatial Calibration for Multi-Sensor Systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.
3. Paul Furgale, T D Barfoot, G Sibley (2012). Continuous-Time Batch Estimation Using Temporal Basis Functions. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2088–2095, St. Paul, MN.
4. J. Maye, P. Furgale, R. Siegwart (2013). Self-supervised Calibration for Robotic Systems, In Proc. of the IEEE Intelligent Vehicles Symposium (IVS)
5. L. Oth, P. Furgale, L. Kneip, R. Siegwart (2013). Rolling Shutter Camera Calibration, In Proc. of the IEEE Computer Vision and Pattern Recognition (CVPR)
## 致谢
This work is supported in part by the European Union's Seventh Framework Programme (FP7/2007-2013) under grants #269916 (V-Charge), and #610603 (EUROPA2).
## 许可证 (BSD)
Copyright (c) 2014, Paul Furgale, Jérôme Maye and Jörn Rehder, Autonomous Systems Lab, ETH Zurich, Switzerland
Copyright (c) 2014, Thomas Schneider, Skybotix AG, Switzerland
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed by the Autonomous Systems Lab and Skybotix AG. 4. Neither the name of the Autonomous Systems Lab and Skybotix AG nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTONOMOUS SYSTEMS LAB AND SKYBOTIX AG ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL the AUTONOMOUS SYSTEMS LAB OR SKYBOTIX AG BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Copyright (c) 2014, Thomas Schneider, Skybotix AG, Switzerland
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed by the Autonomous Systems Lab and Skybotix AG. 4. Neither the name of the Autonomous Systems Lab and Skybotix AG nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTONOMOUS SYSTEMS LAB AND SKYBOTIX AG ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL the AUTONOMOUS SYSTEMS LAB OR SKYBOTIX AG BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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