Comments (10)
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首先,我的结果不是不精确,而是完全不对,一直没找到原因! 我的图像的位置是用orb-slam2跑出来的结果,然后对应里程计的数据是插值出来的结果,我一直很困惑是什么原因,输进去的位置是前一帧到当前帧的位置。 kalibr还可以用来标定cam-odom? q请问可以加下您qq么?万分感谢!!!我qq是1553532009, 谢谢, 麻烦了,旁边实在是没有做过这个标定的伙伴
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而且我的两种位姿用rviz显示过了 形状都是一样的, 就是走过的路径的形状是一样的
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我的cam是global-shutter, 几组不同数据标定出来的效果不同,而且那个motionCount和segmentCount您是依据什么来设置的?我直接设置motionCount = 10; 如果用kalibr来标的话,是不是需要把里面关于Imu的部分改成odom??? 希望您能回复我,谢谢
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from slam_note.
Hi
谢谢,麻烦你了!我测出来的结果不够准确,
将图像和odometry数据扔进去,图像通过他自身的vo计算出的位姿; 得出的结果(result1)与利用他给出的CamOdoCalibration_test中将orbslam2的图像位姿和odometry扔进去的结果(result2)进行了一下比较,旋转差不多,只有yaw差了几度,roll和pitch都在1度以下; 平移的x相差在1cm以下,但是它计算的y,跟我的差距较大,我计算出来的是7cm, 他算出来的是-28cm;
result1:
H_cam_odo =
0.0740025 0.0103076 0.997205 0.0293397
-0.9972 -0.00999095 0.0741055 -0.281613
0.0107269 -0.999897 0.00953939 0
0 0 0 1
r p y: -89.4535 -0.614617 -85.7559
result2:
Rotation:
0.171076 0.0196879 0.985061
-0.985228 -0.00435906 0.171192
0.00766435 -0.999797 0.0186513
Translation:
0.0330635 0.0799669 0
RPY: -88.9 -0.4 -80.5
因为在网上找的开源数据, 所以我这有较为准确的外参:
- Translation: [0.074, 0.030, 1.251]
- Rotation: in Quaternion [0.491, -0.509, 0.509, -0.490]
in RPY (radian) [-1.571, -0.001, -1.608]
in RPY (degree) [-90.028, -0.035, -92.113]
感觉算出来的结果都不够准确呢。。。
谢谢哈, 你先忙你的
from slam_note.
@yuyadanyadan ,sorry for the late. In my impression, VO of camodocal
is not that good, you said the trajectory of odom and VO was the same shape and you knew the extrinsic already, maybe you can use the extrinsic to check the error between the odom trajectory and VO trajectory?
from slam_note.
thank you, I use the result of ORB-SLAM2 not its own vo. And I get the almost accurate result, Thank you very much!
from slam_note.
你好,我使用camodocal标定结果不是最优的,请问你的是吗?
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