How to get std and cov for accelerometer and gyro?

KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight

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How to get std and cov for accelerometer and gyro? #125

Closed kzamzam closed 2 years ago

kzamzam commented 2 years ago

I am trying to run the Zed2 camera with S-MSCKF, in the launch file, there is the standard deviation and covariance of the accelerometer and gyroscope, I am using Kalibr for the calibration, how to get those values?

versatran01 commented 2 years ago

You can try using this tool https://github.com/rpng/kalibr_allan