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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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Calibration IMU & ZED Camera #105

Open sandmen opened 6 years ago

sandmen commented 6 years ago

Hi Gent's, I have VINS-MONO now running on Jetson TX2. I have connected a MPU9250 via SPI and a Zed Stereolabs-Camera. MPU is via rtimulib2 prepared as ROS-node, and Stereolabs-zed-Ros-Wrapper is also working.

Vins-Estimator is roughly working ! Now I need to calibrate the camera and IMU. Hmm, anyone can help me how to calibrate the camera ?

The Zed Camera it self, I have already calibrated ! but not in ROS!

raghavkhanna commented 6 years ago

You may want to look at https://github.com/ethz-asl/kalibr/wiki/camera-imu-calibration

snakehaihai commented 6 years ago

we tried this solution. although sometimes drift. but as a simple solution it will work. we use the ros zed driver with vector nav on vins mono. The value are directly taken from config / a3 /ex_calib_result.yaml. put the value in that text file in the cfg. also remember to set flag to 1.

sandmen commented 6 years ago

I need to calibrate the onboard mpu9250 from Auvidea J130 board. Alread have the RTIMULIB-Wrapper in ROS, and provide the values per node. Hopefully I have time the next days....

yueshukun commented 5 years ago

@sandmen Do you succeed to run vins-mono with zed and mpu9250.Thanks!

sandmen commented 5 years ago

@yueshukun sorry, I got it running, but I didn't get the mpu calibrated and synced with zed. But to be honest, Oct 2017 was maybe last time when I was working on this topic !