Downloads

Sample datasets

Bag File	Configs	Description
Multi-CAM	april_6x6.yaml	Sample calibration bag from the EuRoC MAV dataset and configurations for the multiple-camera calibrator
IMU-CAM	imu_adis16448.yaml cam_april-camchain.yaml	Sample calibration bag from the EuRoC MAV dataset and configurations for the imu-camera calibrator
Multi-IMU	april_6x6_80x80cm.yaml imu_adis16448.yaml imu_mti100.yaml imu_mtig710.yaml	Three IMU and stereo camera recording. Can be used to test the multi-IMU calibration ability. A picture of the rig can be found in this paper for those interested.
Rolling Shutter	april_6x6_80x80cm.yaml	Recording of a ELP-960P2CAM-V90-VC USB 2.0 rolling shutter stereo pair recorded using this ROS package. There is no IMU data.

Calibration targets

Name	Target	Config
Aprilgrid 6x6 0.8x0.8 m (A0 page)	pdf	yaml
Aprilgrid 6x6 & Checkerboard 7x6 0.5x0.5 m (A0 page)	pdf	checker-yaml april-yaml
Aprilgrid 6x6 0.8x0.8 m (unscaled)	pdf	yaml
Aprilgrid 6x6 0.5x0.5 m (unscaled)	pdf	yaml
Checkerboard 7x6 0.5x0.5 m (unscaled)	pdf	yaml

Kalibr provides a script to generate custom targets.

IMU configurations

Name	Description
ADIS 16448	IMU configuration for the Analog Devices ADIS16448 IMU