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jpl-x / x_multi_agent

Fork of x library for collaborative decentralized visual-inertial odometry
Apache License 2.0
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photometric calibration #10

Closed wanghuan0812 closed 1 month ago

wanghuan0812 commented 7 months ago

Dear sir , when I run the code with my own bag. As shown in the figure,It feels like the photometric calibration is not working.why?how to solve?My device is a mobile vehicle with flir_tau2. best, image trajectory

viciopoli01 commented 7 months ago

Hi,

You can play with the parameters in the yaml file with the thermal parameters:

###################################
# Thermal photometric calibration #
###################################
# These paramters are needed only if `PHOTOMETRIC_CALI` is set to `true` in the `CMakeLists.txt` file

# window size to compute the intensity value changes to track over time
temporal_params_div: 32
# true -> compute the spatial parameters
spatial_params: True
# the features must cover the spatial_params_thr percentage of
# the image to compute the params
spatial_params_thr: 0.9

epsilon_gap: 0.6
epsilon_base: 0.4

To known their meaning, you could give a look to the paper M. P. Das, L. Matthies and S. Daftry, "Online Photometric Calibration of Automatic Gain Thermal Infrared Cameras," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2453-2460, April 2021, doi: 10.1109/LRA.2021.3061401.

viciopoli01 commented 1 month ago

I do not see any activity here, so I think this issue can be closed. Please reopen if needed.