Is Translation from Imu-Camera matrix important or not?

RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU

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Is Translation from Imu-Camera matrix important or not? #8

Open SKioresku opened 5 years ago

SKioresku commented 5 years ago

I am trying to implement automatic calibration from feature points with libraryes like https://github.com/hovren/crisp and https://github.com/AaltoVision/camera-gyro-calibration I found, that i cant find translation part from Imu-Camera matrix. Can i just put zeroes to T vector?

RonaldSun commented 5 years ago

I'm not sure, but I don't think so. If you set the translation to zero that means you assume the camera and imu have same rotation center. Different rotation center cause different acceleration. If the translation or angular velocity is large, the impact may be obvious.