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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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IMU-Camera extrinsic calibration: Can I input undistortion images for imu-Camera extrinsic calibration #558

Closed LPXingxing closed 2 years ago

LPXingxing commented 2 years ago

Can i undistort images using the camera intrisinc calibration parameters then sending to the Kalibr tool to do imu-Camera extrinsic calibration . i can set the distortion_coeffs all 0 in yaml file.

goldbattle commented 2 years ago

You can pre-rectify the images yes, but there is no way to fix it during static camera calibration. But for IMU-to-Camera the camera intrinsics are fixed, thus what you have explained should work I believe. You can check by re-running the rectified images through the static calibration to see if you get very small distortion parameters.