Open maulanaazhari opened 2 weeks ago
Thank you for your interest in our dataset.
Unfortunately, performing the camera-IMU calibration is not straightforward as the sensors are not hardware synchronized, and at the time we recorded the dataset, it was not our priority. We thus don't have the data needed to perform such calibration with the exact same drone used in the dataset.
Nevertheless, you can find the file drone_to_camera.json which has been reported to be a good approximation of the drone-to-camera transformation.
drone_to_camera.json - Drone to camera in JSON format. Translation was measured by MoCap, rotation is an estimation, and includes the FLU to RDF conversion.
Thanks for the response.
I tried to reproject the gate corners into the camera optical frame by using:
drone_to_camera.json
to transform from "drone" frame to "camera" frame. projectPoints
function to have the gate in the camera optical frame.However, the result is not good. I guess due to the rotation just only an estimation (?)
When I adjusted drone to camera rotation to q_xyzw = [-0.3641869, 0.3641869, -0.6061088, 0.6061088]
the result is better.
my question is: how did you verify that the drone_to_camera.json
is a good enough approximation? since it doesn't give a good result in my case. However, there is also a chance that I have a bug in my code so the result of drone_to_camera.json
is not good
Hi! thanks for open-sourcing the dataset.
Is there any chance you can provide the IMU calibration and camera extrinsics relative to the IMU? both following the kalibr format (https://github.com/ethz-asl/kalibr).
Thank you!