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The Kalibr visual-inertial calibration toolbox
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Gyro - Accelerometer units #641

Closed ManChrys closed 1 year ago

ManChrys commented 1 year ago

Hello,

i have read a lot of issues about the units of gyroscope and accelerometer and there are different opinions about that.

What's the correct units ?

Thanks in advance.

goldbattle commented 1 year ago

Accel: m/s2 Gyro: rad/s

See the standard: https://www.ros.org/reps/rep-0145.html

On Fri, Aug 25, 2023 at 12:51 AM ManChrys @.***> wrote:

Hello,

i have read a lot of issues about the units of gyroscope and accelerometer and there are different opinions about that.

What's the correct units ?

Thanks in advance.

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/kalibr/issues/641, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAQ6TYS5UW664JGJIGKGYC3XXBKR3ANCNFSM6AAAAAA36D552Q . You are receiving this because you are subscribed to this thread.Message ID: @.***>

ManChrys commented 1 year ago

Hello @goldbattle,

thanks for the response, yeah i know that generally these are the units. But for kalibr (yaml file https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model) i saw this table

Screenshot_1

goldbattle commented 1 year ago

These are for the noise parameters. The units for them are in the last column.

On Sun, Aug 27, 2023 at 10:58 PM ManChrys @.***> wrote:

Hello @goldbattle https://github.com/goldbattle,

thanks for the response, yeah i know that generally these are the units. But for kalibr i saw this table

[image: Screenshot_1] https://user-images.githubusercontent.com/67521662/263605895-5942362a-bae8-4073-92f5-685d65cb9709.jpg

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ManChrys commented 1 year ago

yeah i was asking about noise params which i have to fill in yaml file. Its my mistake that i didnt specified it.

These units in wiki documentation are the correct right ?

goldbattle commented 1 year ago

Yes!

On Sun, Aug 27, 2023 at 11:11 PM ManChrys @.***> wrote:

yeah i was asking about noise params which i have to fill in yaml file. Its my mistake that i didnt specified.

These units in wiki documentation are the correct right ?

— Reply to this email directly, view it on GitHub https://github.com/ethz-asl/kalibr/issues/641#issuecomment-1695078502, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAQ6TYXIK72XOVV2CNRX2GTXXQZCXANCNFSM6AAAAAA36D552Q . You are receiving this because you were mentioned.Message ID: @.***>

ManChrys commented 1 year ago

thank you my friend.