Generate Aprilgrid calibration board

step:

1. Enter the calibr_workspace project directory

cd ~/calibr_workspace   //你的工程路径
source ./devel/setup.sh

2. Generate calibration board

 kalibr_create_target_pdf --type apriltag --nx 6 --ny 6 --tsize 0.055 --tspace 0.3

Calibration board parameter definition

--type apriltag                标定板类型

--nx [NUM_COLS]                列个数

--ny [NUM_ROWS]                行个数

--tsize [TAG_WIDTH_M]          二维码方格长度，单位m

--tspace [TAG_SPACING_PERCENT] 小方格与二维码方格长度比例

 

3. Encountered the problem "ImportError: No module named pyx"

sudo apt-get install python-pyx

4. Finally generate the calibration board file: target.pdf