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ZhiangChen / gps_vio

Odometry Fusion of PX4 GPS and Realsense T265 VIO
Apache License 2.0
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fake Odoms in gazebo #2

Closed ZhiangChen closed 3 years ago

ZhiangChen commented 3 years ago

You can't use a fake odom to calibrate the translations between camera and UAV. e.g. we know gps_odom, it is not proper to have vio_odom = T * gps_odom.

The reason is that these two odometries will be geometrically identical, which means the two sensors are moving parallelly without any rotation. Thus, you can't have translation calibration.

ZhiangChen commented 3 years ago

you need extract camera's pose using gazebo and then create a realistic fake vio odometry (p_cc)

ZhiangChen commented 3 years ago

robot's pose in VIO's coordinates: P_vio_r = T_uav2vio P_uav_r
camera's pose in VIO's coordinates: P_vio_c = T_uav2vio P_uav_r * T_vio2uav