vins-mono能够在初始化的时候,自动标定相机和imu的外参,这个强大的功能其实并没有想象中那么复杂,一起来看看.
1.在vins-mono的配置文件中,就可以找到参数,来选择,是否需要估计参数.
# Extrinsic parameter between IMU and Camera.
estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
# 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
# 2 Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning.
2. 当完全没有参数估计时,流程如下
关键函数是 CalibrationExRotation
它干了什么呢?
它的输入是两帧之间的图像匹配点和预积分得到的旋转角的变化===>这有什么用呢?
a. 通过两帧之间的匹配点,我们可以通过相机