Closed ericdonatyy closed 1 year ago
It looks like the cam1
has super large reprojection errors (bad static calibration?). Are you able to run with a single camera?
Dear @goldbattle, yes, I also run with cam0
, and cam0
is 0.65 px error in stereo, cam0
becomes 2.051730257 px error when run mono-imu . Translation slightly increased. But it still hasn't offered real value. I need your help on this.
Reprojection error (cam0): mean 2.051730257, median 1.68190511365, std: 1.56539884023 Gyroscope error (imu0): mean 4.49433304664, median 3.84980693429, std: 2.92043330078 Accelerometer error (imu0): mean 16.0373827815, median 15.1064904411, std: 7.90494316191
Reprojection error (cam0) [px]: mean 2.051730257, median 1.68190511365, std: 1.56539884023 Gyroscope error (imu0) [rad/s]: mean 0.000359546643731, median 0.000307984554743, std: 0.000233634664062 Accelerometer error (imu0) [m/s^2]: mean 0.268145040107, median 0.252580520175, std: 0.132170649667
T_ci: (imu0 to cam0): [[ 0.64357822 0.59596732 0.48023955 -0.19011274] [ 0.48790852 0.16398185 -0.85735362 -0.00905322] [-0.58970531 0.78608709 -0.18524238 0.08497719] [ 0. 0. 0. 1. ]]
T_ic: (cam0 to imu0): [[ 0.64357822 0.48790852 -0.58970531 0.17688106] [ 0.59596732 0.16398185 0.78608709 0.04798608] [ 0.48023955 -0.85735362 -0.18524238 0.09927922] [ 0. 0. 0. 1. ]]
timeshift cam0 to imu0: [s] (t_imu = t_cam + shift) -0.00888701085624
Gravity vector in target coords: [m/s^2] [ 9.63055457 1.08724449 -1.49624228]
Camera model: pinhole Focal length: [1425.9845132347257, 1426.118370418552] Principal point: [1238.7500720328392, 905.1767901828307] Distortion model: equidistant Distortion coefficients: [0.2857372589036288, -0.2281659693698818, 0.414673022500735, 0.08497884215003768] Type: checkerboard Rows Count: 6 Distance: 0.1 [m] Cols Count: 9 Distance: 0.1 [m]
Model: scale-misalignment Update rate: 400.0 Accelerometer: Noise density: 0.000836 Noise density (discrete): 0.01672 Random walk: 6.9e-05 Gyroscope: Noise density: 4e-06 Noise density (discrete): 8e-05 Random walk: 1e-07 T_ib (imu0 to imu0) [[ 1. 0. 0. 0.] [ 0. 1. 0. 0.] [ 0. 0. 1. 0.] [ 0. 0. 0. 1.]] time offset with respect to IMU0: 0.0 [s] Gyroscope: M: [[ 0.00015373 0. 0. ] [-0.01060834 0.01633681 0. ] [-0.28007989 0.57167143 0.15081014]] A [(rad/s)/(m/s^2)]: [[ 0.0000065 -0.00001197 0.00002552] [ 0.00145075 0.00155677 -0.00497331] [-0.00021693 -0.0009993 0.00201586]] C_gyro_i: [[ 0.93197653 0.34683431 0.10547847] [-0.3623575 0.89993196 0.24252733] [-0.01080665 -0.2642507 0.96439348]] Accelerometer: M: [[ 0.22803719 0. 0. ] [-0.10098693 0.0772605 0. ] [-0.09600555 -0.54834283 0.85024363]]`
Likely your IMU is bad, or noises are incorrect here. Post a bag and the commands you are running and ensure you are running the master branch.
Hello, have you ever solved the problem? I have the same problem.
Likely your IMU is bad, or noises are incorrect here. Post a bag and the commands you are running and ensure you are running the master branch.
do you mean it's because the calibration of IMU is bad?
@ericdonatyy Can you please tell me how do you solved the first problem? I got the same error of the first one. I'm using a camera of 60HZ and IMU of 200HZ.
Hi,
I am running imu calibration code with gopro camera. I am encountering this error. Although I searched for the reason for this, I could not find the cause of the error. Is the projection error too high? I'm waiting for your help.
Command:
rosrun kalibr kalibr_calibrate_imu_camera --bag /home/bilal/Desktop/son5.bag --cam /home/bilal/Desktop/33/camchain.yaml --imu /home/bilal/Desktop/33/sensor.yaml --target chess.yaml
Output: