ZED2i Camera Calibration

Dependencies

• ZED SDK
• Kalibr
• ZED ROS Wrapper
• CUDA

Calibration

• Generate aprilgrid and target.yaml
• Bump zed_wrapper resolution to 1080p
• Run kalibr_record.sh or

roscore

roslaunch zed_wrapper zed2i.launch

rviz -d zed2i.rviz

rosbag record /zed2i/zed_node/right_raw/image_raw_color /zed2i/zed_node/left_raw/image_raw_color /zed2i/zed_node/imu/data_raw

• Run kalibr_calibrate_mcc.sh zed2i.bag or

rosrun kalibr kalibr_calibrate_cameras --bag zed2i.bag --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

• Run kalibr_calibrate_imu.sh zed2i.bag camchain.yaml or

rosrun kalibr kalibr_calibrate_imu_camera --bag zed2i.bag --cam camchain.yaml --imu imu.yaml --target target.yaml --timeoffset-padding 0.01

Errors

• kalibr_calibrate_imu_camera : Optimization failed

References

• Getting started with ZED and ROS
• Kalibr Wiki
• ZED2i datasheet