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ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
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bagcreator or record directly a ros bag ? #643

Closed mahammadirfan closed 1 year ago

mahammadirfan commented 1 year ago

Hi, I want to calibrate stereo-inertial, and have few questions: 1) I have a ROS installed system with the sensors, Do i need to start the bagcreator and convert it into rosbag file or i can directly record everything in a rosbag file ?

Thanks!

mahammadirfan commented 1 year ago

I have one more question to ask :
2) I am calibrating dji m300 drone.....it has inbuilt stereo cameras...for now i am using just front....with its own IMU....do i have to check and set IMU + camera cordinate system to any specific for kalibr ?

Thanks!

goldbattle commented 1 year ago

The wiki describes how to do this. If you can directly record into a rosbag then there is no need to convert image data into a rosbag data. You need to ensure they are right handed coordinate systems and use the correct ROS standard units for the IMU (rad/s and m/s^2).

On Thu, Sep 7, 2023 at 9:44 AM mahammad irfan @.***> wrote:

I have one more question to ask : 2) I am calibrating dji m300 drone.....it has inbuilt stereo cameras...for now i am using just front....with its own IMU....do i have to check and set IMU + camera cordinate system to any specific for kalibr ?

Thanks!

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