imu and camera base line value

[vigneshsara]

hi author, i had done the imu calibration using kalibr on zed-mini and obtain result almost same your example value (https://support.stereolabs.com/hc/en-us/articles/360012749113-How-can-I-use-Kalibr-with-the-ZED-Mini-camera-in-ROS-). i had some doubt on the give value . camera base line =63mm camera0 to imu base line= -0.06287466260313691(almost 63mm) The above value denote the both camera and imu sensor are in same position. This is correct result ???

[Myzhar]

Hi @vigneshsara the IMU sensor is indeed very near to the camera sensor. You can get the transform matrix just starting the ZED wrapper node and looking at the log output on the console:

this is for example the transform matrix for one of the ZED2 cameras:

$ roslaunch zed_wrapper zed2.launch

[...]
[ INFO] [1578904344.511432279]:  ...  ZED ready
Camera-IMU Transform: 
 7FFC07B1BE60
0.999626 0.025546 0.009792 -0.002000
-0.025588 0.999664 0.004221 -0.023000
-0.009681 -0.004470 0.999943 -0.002000
0.000000 0.000000 0.000000 1.000000
[...]