Vins-mono use note taking

Preface:This article is written for a nifty girl who I cherish.

(0)Caculate camera 2 imu matrix and translation vector

$$\begin{gathered} {}^{imu}{R}_{cam} \\ \overrightarrow{{}^{imu}{T}_{cam}} \end{gathered}$$
以imu坐标系为基本坐标系，计算cam坐标系中的向量映射为imu坐标系的旋转矩阵与平移向量有：
$$V_{imu}={}^{imu}{R}_{cam}{v}_{cam}+\overrightarrow{{}^{imu}{T}_{cam}}$$
满足矩阵左乘；
而对应到坐标轴旋转，是cam坐标系旋转到imu坐标系的旋转；
计算步骤：

1. 在物体中心标出xyz坐标轴
2. 以imu坐标系为基本坐标系，依次找到轴旋转到想要的坐标系（固定角旋转）
3. 写出imu到cam的逆旋转，写出旋转四元数：
   写四元数思路： 空间中任意旋转都基于一特定轴+角度
   对于四元数$(w,x,y,z)$，有：
   $\{\begin{array}{l}cos(\theta /2)\\ n_{x}sin(\theta /2)\\ n_{y}sin(\theta /2)\\ n_{z}sin(\theta /2)\end{array}$
   表示绕着轴$(n_x,n_y,n_z{)}^T$旋转$\theta$度，$(n_x,n_y,n_z{)}^T$一般为一单位向量
4. 运用matlab “quat2dcm()” 函数求解旋转矩阵，依次将矩阵乘起来，考虑越靠近cam坐标系的旋转矩阵放在右边
5. 拿出三个单位向量做验证

Example:

(2)Camera

Global shutter camera is better than rolling shutter camera;
Realsense D435 rgb camera is rolling shutter camera;

(3)Calibration imu and camera use kalibr

• catkin_make in :Link
  First use: catkin_make -j16
  Then no error except “compiler internal error”, use: carkin_make -j1
• write to default source file:

gedit ~/.bashrc
type:"source ~/Codes/kalibr_workspace/devel/setup.bash", and save file

• close IR light of D435:Link3
• calibration reference:Link2
  Order: binocular camera first the imu then imu and camera;
  note: imu and camera calibration may costs 3 hours and more