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 4 months ago

zhoupengwei commented 7 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 4 months 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.