urbste / OpenImuCameraCalibrator

Camera calibration tool
GNU Affero General Public License v3.0
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How to config the quality value in the spline weight estimation? #41

Closed zhoupengwei closed 12 hours ago

zhoupengwei commented 2 months ago

@urbste Hi author, Thank you for share your project, How should I determine the sensor quality parameters of the get_sew_for_dataset.py. I found that different parameters produce different calibration results because they affect the weights in the final spline optimization process.

urbste commented 12 hours ago

For this please check this paper. Also check Figure 6 and Equation 13.

In the end it is a hyperparameter and you have to find one that works good for your data.

To select a suitable knot spacing, ∆t, we thus first decide on a quality value, ˆ q ∈ (0, 1], that corresponds to the fraction of signal energy we want the approximation to retain.