| Camera-IMU calibration (Kalibr) | |
| target_type: 'aprilgrid' #gridtype | |
| tagCols: 6 #number of apriltags | |
| tagRows: 6 #number of apriltags | |
| tagSize: 0.088 #size of apriltag, edge to edge [m] | |
| tagSpacing: 0.3 #ratio of space between tags to tagSize | |
| Camera-Lidar calibration (DiffCal) | |
| target_type: 'checkerboard' #gridtype | |
| targetCols: 12 #number of internal chessboard corners | |
| targetRows: 9 #number of internal chessboard corners | |
| rowSpacingMeters: 0.06 #size of one chessboard square [m] | |
| colSpacingMeters: 0.06 #size of one chessboard square [m] | |