Kalibr IMU/Camera Config Conversion about maplab HOT 9 OPEN

It also doesn't seem to export the IMU file when you specify it.

rosrun kalibr kalibr_maplab_config --label testing --cam camchain-imucam-2017-11-15-11-05-41_0.yaml --out ncamera.yaml --imu imu-2017-11-15-11-05-41_0.yaml --imu-out imu.yaml 

IMU file is attached.
imu-2017-11-15-11-05-41_0.txt

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@goldbattle Thanks for the report, I will have a look.

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Will be fixed here: ethz-asl/kalibr#145.

Regarding the IMU file, you don't need to pass it to the converter. This is used for a different calibration format.

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I ended up being able to just not specify the --to-ncamera so it generated a single file with both the IMU and camera information. Needed to get the properly generated ID md5 hash and label (which I didn't realize that the label was the topic that the sensor is on).

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Actually you should provide separate calibration files for the IMU when using rovioli, see here: https://github.com/ethz-asl/maplab/wiki/Running-ROVIOLI-in-VIO-mode

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Yep, but to generate the IMU file I used the command above and copied the resulted combo file into the two separate files that are needed. Just tested the pull request and that fixed the radtan issue for me.

I still get errors on processing the IMU file.
Seems that the IMU parser is unable to handle the current kalibr IMU format output (multi-imu).
I fixed by simply ensuring that the first IMU is always selected

def parse_from_kalibr_format(self, imu_dict):
        imu_dict = imu_dict['imu0'] #added this line since camchain is relative to imu0
        self.rostopic = imu_dict['rostopic']

Not the cleanest way to do things, but it worked for me.
tempconfig.txt

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@goldbattle I just successfully used the command from wiki to calibrate a new sensor, I used:

rosrun kalibr kalibr_maplab_config --to-ncamera --label zr300 --cam camchain-imucam-2017-12-05-10-52-08.yaml

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Yep, I was just noting that the kalibr IMU config (not the camera one) to maplab doesn't work as is, and requires copying the contents of the generated file (generated without the --to-ncamera) into the two separate files, along with the change I noted above.

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@dymczykm
can this：rosrun kalibr kalibr_maplab_config --to-ncamera --label zr300 --cam camchain-imucam-2017-12-05-10-52-08.yaml generate three yaml files that we need？
imu-zr300-maplab.yaml imu-zr300-rovio.yaml ncamera.yaml

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