Kalibr 对单目相机 + IMU 联合标定参数
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2022-09-14
17:13:09
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Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0): mean 0.255256602549, median 0.250599211535, std: 0.112290724659
Gyroscope error (imu0): mean 0.166393251317, median 0.124020941096, std: 0.15569730025
Accelerometer error (imu0): mean 0.0919505179362, median 0.0758195727307, std: 0.0649855460036
Residuals
----------------------------
Reprojection error (cam0) [px]: mean 0.255256602549, median 0.250599211535, std: 0.112290724659
Gyroscope error (imu0) [rad/s]: mean 0.00470222795331, median 0.00350479800955, std: 0.00439996328996
Accelerometer error (imu0) [m/s^2]: mean 0.0254205122451, median 0.0209609735788, std: 0.0179658136248
Transformation (cam0):
-----------------------
T_ci: (imu0 to cam0):
[[ 0.13019638 -0.99120264 0.02379546 -0.0219622 ]
[-0.00330724 -0.02443377 -0.99969598 -0.00918371]
[ 0.99148271 0.1300781 -0.00645934 -0.18209081]
[ 0. 0. 0. 1. ]]
T_ic: (cam0 to imu0):
[[ 0.13019638 -0.00330724 0.99148271 0.18336891]
[-0.99120264 -0.02443377 0.1300781 0.00169264]
[ 0.02379546 -0.99969598 -0.00645934 -0.00983451]
[ 0. 0. 0. 1. ]]
timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
0.1287058927649729
Gravity vector in target coords: [m/s^2]
[-0.06134927 -9.79147069 -0.54014889]
Calibration configuration
=========================
cam0
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