kalibr with ArduCopter
23 views
Skip to first unread message
khodos...@gmail.com
Sep 6, 2018, 1:24:45 AM9/6/18
to kalibr-users
Hi!
I try to perform "kalibration" to RealSense camera to Pixhawk IMU with ArduCopter.
The calibration runs and I get transformation matrix that makes sense, for example
T_ic: (cam0 to imu): [m]
[[ 0.18566984 -0.01567314 0.98248718 -0.00074275]
[-0.98079541 0.05781811 0.18627247 0.00028997]
[-0.05972502 -0.9982041 -0.00463706 -0.00246395]
[ 0. 0. 0. 1. ]]
I try to perform "kalibration" to RealSense camera to Pixhawk IMU with ArduCopter.
The calibration runs and I get transformation matrix that makes sense, for example
T_ic: (cam0 to imu): [m]
[[ 0.18566984 -0.01567314 0.98248718 -0.00074275]
[-0.98079541 0.05781811 0.18627247 0.00028997]
[-0.05972502 -0.9982041 -0.00463706 -0.00246395]
[ 0. 0. 0. 1. ]]
but I immediately see that the right (displacements) column is wrong (on my setup I have about 10 cm displacements on x and z axes);
Also when I test the transformation, I get large errors (about 40 cm on each axis). I've tried multiple parameters(suc as noise and changing target from checkerboard to aprilgrid) but the results are similar.
The only thing I can think about is that the IMU data flow via MAVlink is at 1[Hz]. As I know, there is no possibility ti increase the rate above 4Hz when using ArduCopter.
May this be a problem? Did anybody deal with it? If not - what may be the problem?
Thanks
Gregory
Reply all
Reply to author
Forward
0 new messages