OS: ubuntu 20.04 LTS

# example
rosbag info t1.bag
rosbag play t1.bag --pause
rosbag record /camera/color/image_raw /camera/imu

# example
rostopic list # list all topics

rviz

1. undistorted the images and videos

1. Calibration board: Target, Config

2. Multiple camera calibration: support monocular camera calibration

rosrun kalibr kalibr_calibrate_cameras \
   --target /data/april_6x6_insta.yaml \
   --bag /data/insta_cali.bag  \
   --models pinhole-radtan \
   --topics /camera/color/image_raw

2. Camera-IMU calibration: get transformation from camera to imu (body frame)

rosrun kalibr kalibr_calibrate_imu_camera \
	--target april_6x6_insta.yaml \
	--imu imu.yaml \
	--imu-models calibrated \
	--cam t1-camchain.yaml \
	--bag t1.bag

3. Multi-IMU and IMU intrinsic calibration: get IMU intrinsic(accelerometer_noise_density, accelerometer_random_walk, gyroscope_noise_density, gyroscope_random_walk)
4. bag_extractor: extract gray images and imu from bag

# example
rosrun kalibr kalibr_bagextractor --image-topics /camera/color/image_raw --imu-topics /camera/imu --bag t1.bag

roslaunch realsense2_camera rs_d455.launch

original version of ORB_SLAM3 INPUT(images) => OUTPUT(6D Pose + trajectory + map(feature points))

Support GO PRO and insta one R
INPUT(videos) => OUTPUT(6D Pose + trajectory + map(feature points))

[UNVERIFIED] Make ORB_SLAM3 IMU initialize faster than original version

cam and cam-imu calibration

recorded in museum, 25 mins

recorded in PGR room