search

HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
4.93k stars 2.09k forks source link

Difference in extrinsic parameters between euroc dataset and config file you provided. #322

Open SiyuanHuang95 opened 4 years ago

SiyuanHuang95 commented 4 years ago

HI, first of all, thanks for the code sharing. :)

  1. I noticed that the camera parameters are different with prameters in euroc_config.yaml, like the issue #206 pointed out.

  2. In Kalibr, (with link https://github.com/ethz-asl/kalibr/wiki/yaml-formats), it says the T_cam_imu represents the transformation from IMU to camera coordinates (T_c_i), however, the similar data in ruroc_config.yaml represents the Rotation from camera frame to imu frame, imu^R_cam. It is kind of confused.

Great thanks for any kind of information.

Thx

SerpentWindy commented 4 months ago

Excuse me, although it has been a long time, I also want to ask why the camera and imu parameters provided by the dataset are inconsistent with those filled in the config file.