Initial sensor calibration with Kalibr¶
Kalibr can be used to get ncamera calibration file necessary for maplab and ROVIOLI.
Create a new catkin workspace, clone and build Kalibr using the installation instructions from the Kalibr wiki.
Calibrate your sensor and obtain a Kalibr camchain yaml file. Check with the Kalibr wiki on how to do that. The relevant tutorials for a VI sensor:  camera calibration,  camera-IMU calibration
Convert the Kalibr output into the maplab format. Run the following command:
rosrun kalibr kalibr_maplab_config --to-ncamera \ --label <your_label> \ --cam <your_cam_chain_yaml>
<your_label> is an arbitrary string to identify your ncamera setup and
<your_cam_chain_yaml> refers to the file you receive from Kalibr in step 2.