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alexklwong / void-dataset

Visual Odometry with Inertial and Depth (VOID) dataset
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Can you provide the d435 camera and imu parameters in raw.bag ? #2

Closed xiangyudxy closed 3 years ago

xiangyudxy commented 3 years ago
  1. The fx, fy, cx, cy about d435i
  2. The na, ng, ba, bg about imu
  3. The transformation matrix between imu and d435i

Thank You

muskie82 commented 3 years ago

Yes, I also want to know those IMU parameters... I would try other VI-SLAMs on this VOID dataset.

alexklwong commented 3 years ago

Sorry for the slow response, I didn't get an email from github for this repo for some odd reason. But I will look into it and provide the numbers soon.

alexklwong commented 3 years ago

I added calibration in this commit: https://github.com/alexklwong/void-dataset/compare/calibration. Currently it is in the calibration branch, once I get the okay from the other authors I'll push it to master

xiangyudxy commented 3 years ago

I added calibration in this commit: 4fade33. Currently it is in the calibration branch, once I get the okay from the other authors I'll push it to master

Thanks for your reply！

muskie82 commented 3 years ago

Thank you very much for your reply!

"alignment": { "t_camera_to_body": [0.056, 0.048, -0.013], "w_camera_to_body": [-1.246, 1.178, -1.237] },

Does "w_camera_to_body" mean Rodrigues' rotation parameters from the camera to imu (the vector represents rotation axis and its norm is rotation angle)??

stephanietsuei commented 3 years ago

@muskie82, yes.