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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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KAIST Dataset Camera-to-IMU Calibration #300

Closed donghuhu closed 1 year ago

donghuhu commented 1 year ago

I see that the extrinsic parameters of the camera in the "config" folder are slightly different from the ones posted by the author of the kaist dataset. I wonder which parameter is better. Thank you.

goldbattle commented 1 year ago

The transforms in the datasets are in the vehicle frame, while we need the camera to IMU transform. You can see how they were calculated in this matlab script: https://github.com/rpng/open_vins/blob/master/ov_data/kaist/matlab/kaist_calculate_imu2cam.m

Hope this helps.

donghuhu commented 1 year ago

Thank you for your help. But I found that the transform matrix from the left camera to vehicle posted by the author of the kaist dataset is R: -0.00680499 -0.0153215 0.99985 -0.999977 0.000334627 -0.00680066 -0.000230383 -0.999883 -0.0153234 and T: 1.64239 0.247401 1.58411. It is a little diffient from the config used in this project. Would you mind me asking which parameter is better. Vehicle2Stereo.txt

goldbattle commented 1 year ago

It seems that the config is pulled from the sample_with_img.tar.gz dataset which seems to be different from all the other datasets. I will push the correct config files in https://github.com/rpng/open_vins/commit/d171a03abc3ccb8641855acbc107a70d00a104ba. Not sure if there is an accuracy change, but it is better to match the dataset. Feel free to reopen if you still have concerns.