Open ClementLeBihan opened 1 year ago
Hi, I was unable to download you bag.
Hi @goldbattle, here is a link to download the bag : https://magcloud.magellium.com/owncloud/index.php/s/Kvb5T3Dr2GkNol6
Best, Clément
Hi @goldbattle, here is a link to download the bag : https://magcloud.magellium.com/owncloud/index.php/s/Kvb5T3Dr2GkNol6
Best, Clément
I also want to need your bag file since I met the same problem using my bag which was recorded in my office. I would like to compare them maybe I can find some valuable infomation. However the file fails to be downloaded.
I am also facing the same problem. how was this problem solved?
Hi all,
I'm trying to use IMU-Camera calibration between a UEye UI3240CP and UM7 IMU.
I did a good Intrinsic Calibration parameters with a sub-pixel reprojection RMS. I did a 12h of IMU recording to estimate bias, here are two figures from allan_variance_ros :
![gyro](https://user-images.githubusercontent.com/12940019/194249669-38b1679a-bcfd-4639-88d2-b0b9bac06db4.png)
Unfortunately, I can't get good results with Kalibr for IMU-Camera Calibration.
Indeed, I have a level arm of 12cm between Camera and IMU but result translation is close to 0,0,0 ...
Here is the command line I use :
rosrun kalibr kalibr_calibrate_imu_camera --bag rosbag_000001.bag --target aprilgrid.yaml --cam camchain.yaml --imu imu.yaml --imu-models scale-misalignment --show-extraction
And here are my yamls : camchain.yaml
imu.yaml
I have a nice reprojection error (bellow 1px) :![Screenshot from 2022-10-06 11-28-39](https://user-images.githubusercontent.com/12940019/194278057-5c024772-b9a2-4615-90cc-367773499e05.png)
But a translation between IMU and Camera that is far from the groundtruth ~12cm :
Attached is the pdf report and here a link to the video of the rosbag I did : https://magcloud.magellium.com/owncloud/index.php/s/7761Lf3j6OxD42L I hope someone will be able to help me :)
Thank you, Clément
report-imucam.pdf