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thusz 和histz数据集配置文件中相机IMU外参数是准确的吗，我标定得到的结果Y轴总是差几厘米 #33

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af-doom opened this issue Aug 10, 2023 · 5 comments
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thusz 和histz数据集配置文件中相机IMU外参数是准确的吗，我标定得到的结果Y轴总是差几厘米 #33

af-doom opened this issue Aug 10, 2023 · 5 comments

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@af-doom
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af-doom commented Aug 10, 2023

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@jianhengLiu
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jianhengLiu commented Aug 10, 2023 via email

@af-doom
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af-doom commented Aug 10, 2023

可能不太准确，当时使用的kalibr进行标定，但标定板并非专业的标定板，可能存在误差

那有相差几厘米吗，就是Y轴，我算出来大概-5cm左右，不知道是否准确，X轴10CM左右差不多，Z轴也差不多，另外，请教下您IMU配置为啥给那么大，有经过标定吗

@jianhengLiu
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jianhengLiu commented Aug 10, 2023 via email

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af-doom commented Aug 10, 2023

差几厘米指的是什么的误差？imu给的值是依据经验，更大的值会更依赖于vo的结果，可以自行调节一下尝试

谢谢您的回复，几厘米指的是平移外参，我是用数据集测试下标定算法

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jianhengLiu commented Aug 10, 2023 via email

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