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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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Should IMU config `Tw` and `R_IMUtoGYRO` both be set to Kalibr `imu0:gyroscope:M`? #358

Closed cod3monk3y closed 8 months ago

cod3monk3y commented 11 months ago

Just clarifying comments from kalibr_imu_chain.yaml in config/*/kalibr_imu_chain.yaml. I checked (almost) all of the configs and they all have the same comment (minor indentation added for clarity):

  # how to get from Kalibr imu.yaml result file:
  #   - Tw is           imu0:gyroscopes:M:
  #   - R_IMUtoGYRO: is imu0:gyroscopes:M:
  #   - Ta is           imu0:accelerometers:M:
  #   - R_IMUtoACC      not used by Kalibr
  #   - Tg is           imu0:gyroscopes:A:

Is it correct that Tw and R_IMUtoGYRO should both be imu0:gyroscopes:M:? If so, this leaves imu0:gyroscopes:C_gyro_i from Kalibr unused.

goldbattle commented 11 months ago

No it would be C_gyro_i, good catch.