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Explain the calibration file in more detail in the README

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ke 2018-01-12 13:28:36 -05:00
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README.md
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@ -5,7 +5,7 @@ The `MSCKF_VIO` package is a stereo version of MSCKF. The software takes in sync
The software is tested on Ubuntu 16.04 with ROS Kinetic. The software is tested on Ubuntu 16.04 with ROS Kinetic.
Video: [https://www.youtube.com/watch?v=OXSB8Bze0cY](https://www.youtube.com/watch?v=OXSB8Bze0cY) Video: [https://www.youtube.com/watch?v=OXSB8Bze0cY](https://www.youtube.com/watch?v=jxfJFgzmNSw&t=3s)
Paper Draft: [https://arxiv.org/abs/1712.00036](https://arxiv.org/abs/1712.00036) Paper Draft: [https://arxiv.org/abs/1712.00036](https://arxiv.org/abs/1712.00036)
## License ## License
@ -30,7 +30,10 @@ catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
## Calibration ## Calibration
An accurate calibration is crucial for successfully running the software. To get the best performance of the software, the stereo cameras and IMU should be hardware synchronized. [Kalibr](https://github.com/ethz-asl/kalibr) can be used to calibrate the transformantion between the stereo cameras and IMU. The yaml file generated by Kalibr can be directly used in this software with slight modifications. See calibration files in the `config` folder for details. The two calibration files in the `config` folder should work directly with the EuRoC and [fast flight](https://github.com/KumarRobotics/msckf_vio/wiki) datasets. An accurate calibration is crucial for successfully running the software. To get the best performance of the software, the stereo cameras and IMU should be hardware synchronized. [Kalibr](https://github.com/ethz-asl/kalibr) can be used to calibrate the transformantion between the stereo cameras and IMU. The yaml file generated by Kalibr can be directly used in this software with slight modifications. See calibration files in the `config` folder for details. The two calibration files in the `config` folder should work directly with the EuRoC and [fast flight](https://github.com/KumarRobotics/msckf_vio/wiki) datasets. The convention of the calibration file is as follows:
`camx/T_cam_imu`: takes a vector from the IMU frame to the camx frame.
`cam1/T_cn_cnm1`: takes a vector from the cam0 frame to the cam1 frame.
The filter requires 200 IMU messages to initialize gyro bias, acc bias, and initial orientation. Therefore, the robot is required to start from static in order to initialize the VIO successfully. The filter requires 200 IMU messages to initialize gyro bias, acc bias, and initial orientation. Therefore, the robot is required to start from static in order to initialize the VIO successfully.