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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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Always get T=(0,0,0) #484

Closed gongyue666 closed 1 year ago

gongyue666 commented 2 years ago

Hi all, nowadays I use kalibr to calibrate realsense L515 and a extend IMU. I do steps follow the tutorial , everything seems ok , but the final result get a T = (0,0,0). image my camera and imu fix like this. image final result like this. have I do something wrong to get this?

mhyoosefian commented 2 years ago

Hi,

The time shift is too large. So are the accelerometer and gyroscope errors. This makes me think that there is a problem in the data acquisition process. My advice: plot your rosbag using rqt and check whether data from camera and IMU are synched. Furthermore, plot your camera and IMU coordinate frames and make sure that the rotation matrices R_ic and R_ci make sense!

Regards, Mohammad