ROS实验笔记之——基于dv-gui多次标定event与imu的实验记录

之前博客《ROS实验笔记之——基于dv-gui的camera与IMU校正（DAVIS346与DVXplorer）》已经实现了event与imu的标定，但是几次标定下来发现误差还挺大的。。。。本来打算用dvs render获取图像，然后用原始版本的kalibr来标定，但是却发现无法检测特征点。

对于imu的噪声，选用默认值与之前的标定值各标定三次看看

DAVIS346

默认噪声第一次

accelerometer noise density0.002

acceletometer random walk4.0e-5

gyroscope noise density0.00018

gyroscope random walk0.001

 imu-cam-calibration   projection: 267.486 267.405 178.498 137.994

imu-cam-calibration   distortion: -0.361412 0.145718 2.90636e-05 7.7949e-05

imu-cam-calibration Calibrating using 4141 target observations and 142911 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration   -0.959258   -0.282312  -0.0111394   -0.032572

imu-cam-calibration   -0.282459    0.959161   0.0150671 -0.00351134

imu-cam-calibration  0.00643086   0.0175996   -0.999824  -0.0473567

imu-cam-calibration           0           0           0           1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   -0.00609535

默认噪声第二次

imu-cam-calibration   projection: 266.401 266.211 177.113 137.748

imu-cam-calibration   distortion: -0.360053 0.142205 -0.000346271 0.000752727

imu-cam-calibration Calibrating using 4109 target observations and 140888 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration   0.976284   0.204122 -0.0721299  0.0759643

imu-cam-calibration   0.214429  -0.957619   0.192319 -0.0371159

imu-cam-calibration -0.0298163  -0.203225  -0.978678    1.00098

imu-cam-calibration          0          0          0          1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   -0.00436447

默认噪声第三次

imu-cam-calibration   projection: 269.965 269.943 178.44 137.415

imu-cam-calibration   distortion: -0.36739 0.147586 0.00021982 0.000261649

imu-cam-calibration Calibrating using 4074 target observations and 138849 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration   0.878511   0.476242  -0.037572   0.141213

imu-cam-calibration   0.476088  -0.866298   0.151219 -0.0246447

imu-cam-calibration   0.039468  -0.150735  -0.987786    1.35172

imu-cam-calibration          0          0          0          1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   0.000244474

标定噪声第一次

      gyr_n: 3.4869979619824697e-03
      gyr_w: 4.4740603706140853e-05

      acc_n: 4.2153479580575477e-02
      acc_w: 8.5654389798364998e-04

imu-cam-calibration   projection: 265.815 265.538 178.031 138.051

imu-cam-calibration   distortion: -0.357392 0.144065 0.000149898 0.00055881

imu-cam-calibration Calibrating using 4132 target observations and 140981 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration  -0.727632   -0.68459  0.0434477 -0.0441577

imu-cam-calibration  -0.679026   0.727811  0.0959926 -0.0551779

imu-cam-calibration -0.0973373  0.0403452  -0.994433 -0.0179686

imu-cam-calibration          0          0          0          1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   -0.0064035

标定噪声第二次

imu-cam-calibration   projection: 266.4 266.262 177.771 138.092

imu-cam-calibration   distortion: -0.356537 0.139644 2.84657e-05 0.000281874

 imu-cam-calibration Calibrating using 4284 target observations and 144193 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration  -0.642181    0.76166  -0.086473 -0.0329043

imu-cam-calibration    0.75701   0.647883  0.0847549  -0.105971

imu-cam-calibration   0.120579 -0.0110329  -0.992642 -0.0162879

imu-cam-calibration          0          0          0          1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   -0.000563195

标定噪声第三次

imu-cam-calibration   projection: 266.053 265.859 178.106 137.626

imu-cam-calibration   distortion: -0.357786 0.140179 -2.96896e-05 0.000211155

imu-cam-calibration Calibrating using 4346 target observations and 152394 IMU measurements

imu-cam-calibration Transformation T_cam_imu:

imu-cam-calibration   0.829707  -0.551515  0.0861275   0.071602

imu-cam-calibration   -0.55681  -0.806853    0.19736 -0.0761984

imu-cam-calibration -0.0393546  -0.211708   -0.97654   0.960005

imu-cam-calibration          0          0          0          1

imu-cam-calibration Camera to imu time: [s] (t_imu = t_cam + shift):

imu-cam-calibration   -0.00455667

DVXplorer

默认噪声第一次

accelerometer noise density1.49e-3

acceletometer random walk8.69e-5

gyroscope noise density8.09e-5

gyroscope random walk2.29e-6

默认噪声第二次

默认噪声第三次

标定噪声第一次

acc_n: 3.7863819264639269e-02
acc_w: 6.8693717455312715e-04

gyr_n: 3.1745424413195111e-03

gyr_w: 3.3271308846999896e-05

标定噪声第二次

标定噪声第三次