Closed LPXingxing closed 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.
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.