README.md

celex5_calibration

The ROS package used for calibrating CeleX™ CeleX5-MIPI Dynamic Vision Sensor.

This repository provides tools and tutorials related to the calibration of CeleX5-MIPI, based on events data. Including:

calibration board generation (currently only support the blinking checkerboard, other types to be added)
Intrinsics calibration
Extrinsics calibration with another traditional frame camera (using Kalibr)
Synchronous data collection and publishing of image data required for calibration
Time stamp alignment with traditional camera (TODO, existing problems)

A series of methods and tools for camera parameter calibration based on events data are provided.

Pattern generator (blinking chessboard). More details

Run:

rosrun celex5_ros pattern_generator_node
# In a new Terminal
rosrun rqt_reconfigure rqt_reconfigure #  Open rqt_reconfigure to config

Intrinsics calibration based on camera_calibration toolkit in ROS. (if you want to calibrate the external parameters of other cameras, this tool in ROS only supports the same resolution...)

Install:
```
sudo apt install ros-$ROS_DISTRO-camera-calibration
```
The detailed tutorials: link
Based on Kalibr toolkit, which supports both intrinsics calibration and extrinsics calibration with another (traditional or event-based) cameras, in different resolutions. Event data based method.

The detailed tutorials: link

Also provides a series of tools to collect calibration data of CeleX5-MIPI Camera.
Time stamp calibration with another camera.

TODO, existing problems. link

celex5_calibration