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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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IMU-Camera extrinsic initial guess #445

Open jdgreeno opened 3 years ago

jdgreeno commented 3 years ago

Hi All,

When using kalibr_calibrate_imu_camera, I would like to input an initial guess for the T_cam_imu extrinsics for my cameras. The comment here implies that it is possible, but below the code seems to run IccCamera.findOrientationPriorCameraToImu() without any check. It appears as though the hooks to exctract T_cam_imu from a camchain.yaml are present, but not used during this calibration.

I hope I am not missing something obvious. Has anyone had success doing this? Does it require modifying the code to take the input and skip IccCamera.findOrientationPriorCameraToImu()?

Thank you

RuanJiaJun commented 2 years ago

Since the calibration translation is far from the real value, I also want to input an initial value when the camera and IMU are jointly calibrated like you. Have you realized it now? Can you share the solution? Thank you!

wzjscut commented 2 years ago

have you solved this problem?

goldbattle commented 2 years ago

This isn't possible right now (see the tag for this issue), but you could edit the code yourself to try to do this.

On Wed, May 18, 2022 at 6:11 AM Wu Zijian @.***> wrote:

have you solved this problem?

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