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kminoda / VIODE

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments
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Airsim Camera Calibration and VINS-Fusion #17

Closed hoangvietdo closed 2 years ago

hoangvietdo commented 2 years ago

Hi, I'm currently trying to run VINS-Fusion for my custom Airsim dataset. The problem I faced was that I could not find any documents that explain the extrinsic parameter of the Airsim's camera (i.e., body_T_cam for VINS-Fusion). So I just simply use your calibration matrix and this is the result: Screenshot from 2022-08-16 22-29-24 It seems like the y-axis is flipped 180 degrees. I tried to change the extrinsic but still no luck. Hope you can give me some advice. P/s: Is it possible for you to provide the settings.json of your simulation?

kminoda commented 2 years ago

I have already graduated from University and thus do not have access to the PC I used to generate the data at that time. So, unfortunately, I cannot provide you with the settings.json.

If I recall correctly, I think I set the extrinsics with some config file (maybe settings.json), but I cannot recall further.