Closed yhabib29 closed 1 year ago
It looks like there is a huge spike at around 58 seconds into the dataset. It also looks like you are getting > 2G of accelerations in some places. I am not sure if this was realistics to your motion. The coordinate system needs to be right handed. This is a convention that is required.
Thanks for your answer @goldbattle, and sorry I forgot to reply before. From your analysis, I think the problem must come from the ZED 2 IMU sensor ... I will further investigate in this direction.
Hello, I am trying to calibrate the ZED2 camera using Kalibr, but I could not manage to get correct results for the stereo-IMU calibration ...
1. Stereo calibration:
I perform data acquisition using ZED SDK, the camera remains fixed while I move the target on all the image trying to variate rotation and scale. I also tuned the camera settings (exposure, saturation, hue, ...) to minimize motion blur and maximize the contrast on the target.
All the data are stored in a ROS bag without compression. The bag file is then reindexed using the command below:
rosrun allan_variance_ros cookbag.py --input data.bag --output data_sorted.bag
I get the following results which seems to be correct: report-cam-data.pdf results-cam-data.txt (I launched it 3 times and I get the same results +/- 2 on the projection)
2. Stereo-IMU calibration:
On this sequence, the target remains fixed and I move the camera to excite all the axis (XYZ translations, roll, pitch, yaw, and random movements) while always keeping the target in sight. I acquire IMU data on a dedicated thread running as fast as possible to reach the sensor rate (400 Hz).
I first tried to get the IMU noise/bias parameters using allan_variance_ros toolkit. Here are the computed IMU config and stereo-IMU calibration results: imu_allan.yaml.txt results-imucam-data.txt report-imucam-data.pdf
As the last calibration did not fit the model, I fine-tuned the parameters to reach the following results: imu_custom_params4.yaml.txt results-imucam-data.txt report-imucam-data.pdf
As we can see in the PDF report, the reprojection error is really bad !
Questions:
Thanks in advance for your help !