Calibration Tools Skill

Overview

Expert skill for sensor and robot calibration using specialized tools including Kalibr, camera_calibration, and hand-eye calibration packages.

Capabilities

• Configure Kalibr for camera-IMU calibration
• Set up camera_calibration for intrinsic calibration
• Implement robot_calibration for kinematic calibration
• Configure hand-eye calibration (eye-in-hand, eye-to-hand)
• Set up LiDAR-camera extrinsic calibration
• Implement IMU bias estimation
• Configure wheel odometry calibration
• Set up multi-camera calibration
• Implement joint encoder calibration
• Generate calibration reports and validation

Target Processes

• robot-calibration.js
• sensor-fusion-framework.js
• visual-slam-implementation.js
• lidar-mapping-localization.js

Dependencies

• Kalibr
• camera_calibration
• robot_calibration
• easy_handeye

Usage Context

This skill is invoked when processes require precise sensor calibration, robot kinematic calibration, or multi-sensor extrinsic calibration.

Output Artifacts

• Camera calibration YAML files
• IMU calibration parameters
• Hand-eye transformation matrices
• Kinematic calibration results
• Calibration validation reports
• Multi-sensor extrinsic configurations