使用kalibr对zed2i相机和imu进行联合标定

1.启动rviz可视化：
roslaunch zed_display_rviz display_zed2i.launch
2.修改节点频率并发布topics：
rosrun topic_tools throttle messages /zed2i/zed_node/right_raw/image_raw_color 20.0 /right/image_raw
rosrun topic_tools throttle messages /zed2i/zed_node/left_raw/image_raw_color 20.0 /left/image_raw
rosrun topic_tools throttle messages /zed2i/zed_node/imu/data_raw 200.0 /imu/data_raw
3.录制rosbag：
rosbag record -O stereo-imu-calibrate.bag /right/image_raw /left/image_raw /imu/data_raw
4.修改yaml文件并播放rosbag
rosrun kalibr kalibr_calibrate_imu_camera --target checkerboard.yaml --cam camera_calibra_checker-camchain.yaml --imu zed2i_imu.yaml --bag stereo-imu-calibrate.bag --show-extraction --timeoffset-padding 0.1

我录制的rosbag不加--timeoffset-padding 0.1时会报错，优化失败