English version of IMU calibration utility

[maciejmatuszak]

Can you please add English version of IMU calibration utility.
Video tutorial would be appreciated. I tried the Chinese -> English translation but not sure of the procedure.

[mpdmanash]

@maciejmatuszak did you figure out the calibration procedure?

[maciejmatuszak]

You need to know XYZ axes position those drawings are in the manual. After that just run the calibration program and copy paste the output to google translator, then follow the directions. Basically X axes UP then down then the Y and Z axes in similar manners with button press in between to capture the data in 8 positions. Make sure you have something stable to support the camera in all directions. Check the order, I am typing it from memory.

[mpdmanash]

Thanks for your reply. Loiter cam has two axes, one for camera and one for the IMU. Which axis to consider for the IMU calibration? Also, I saw that you ran vins mono with loitor cam. It would be very helpful if you could tell me how you Incorporated the IMU calibration values and camera-IMU extrinsics.

[maciejmatuszak]

The calibration procedure is for IMU alone, so you use the IMU axes. The calibration parameters goes into loitor config file, nothing to do with extrinsic camera-imu calibration except it has to be done before you work out the cam-imu transform.
I am no longer using VINS-MONO but from memory you can set the imu-camera rotation and translation from the drawing in manual. then set the estimate_extrinsic parameter to optimise the transform. The optimised is printed to the screen or file I do not remember, you can then put the optimised one to config and set the estimate_extrinsic to fixed.
The estimate_extrinsic has also settings where it can work out the extrinsic without any initial values. You may want to give it a try.

[mpdmanash]

Thanks a lot. I was able to successfully run VINS-MONO on Optor cam2pc loitor cam.

[Blackshaddock]

@mpdmanash can you tell me how to initial， I always fail。