0.VINS相关参数

• 外参为相机到IMU：标定结果中T_ic: (cam0 to imu0)项.
• IMU加速度计与陀螺仪的参数均选择连续的Noise density.

1.标定结果

Calibration results
===================
Normalized Residuals
----------------------------
Reprojection error (cam0):     mean 0.19765369851, median 0.166741315465, std: 0.137615073255
Gyroscope error (imu0):        mean 0.162560118099, median 0.144816454376, std: 0.0920572942492
Accelerometer error (imu0):    mean 0.153108341801, median 0.134964393851, std: 0.136194256019

Residuals
----------------------------
Reprojection error (cam0) [px]:     mean 0.19765369851, median 0.166741315465, std: 0.137615073255
Gyroscope error (imu0) [rad/s]:     mean 0.00495579458022, median 0.00441486268657, std: 0.0028064512086
Accelerometer error (imu0) [m/s^2]: mean 0.0471879238279, median 0.0415959670229, std: 0.0419750100041

Transformation (cam0):
-----------------------
T_ci:  (imu0 to cam0): 
[[ 0.99998318  0.00296347  0.00498539  0.01317727]
 [-0.00302186  0.99992645  0.01174545  0.0006017 ]
 [-0.00495021 -0.01176032  0.99991859 -0.01542779]
 [ 0.          0.          0.          1.        ]]

T_ic:  (cam0 to imu0): 
[[ 0.99998318 -0.00302186 -0.00495021 -0.0132516 ]
 [ 0.00296347  0.99992645 -0.01176032 -0.00082214]
 [ 0.00498539  0.01174545  0.99991859  0.01535377]
 [ 0.          0.          0.          1.        ]]

timeshift cam0 to imu0: [s] (t_imu = t_cam + shift)
-0.023707833163270246


Gravity vector in target coords: [m/s^2]
[ 8.50966342  0.28117345 -4.86569552]


Calibration configuration
=========================

cam0
-----
  Camera model: pinhole
  Focal length: [601.226091, 601.3432164]
  Principal point: [332.171979, 240.5101526]
  Distortion model: radtan
  Distortion coefficients: [0.10364469, -0.1823355, 0.002330617, 0.0037446]
  Type: checkerboard
  Rows
    Count: 8
    Distance: 0.03 [m]
  Cols
    Count: 11
    Distance: 0.03 [m]



IMU configuration
=================

IMU0:
----------------------------
  Model: scale-misalignment
  Update rate: 200.0
  Accelerometer:
    Noise density: 0.021793 
    Noise density (discrete): 0.308199561648 
    Random walk: 0.00050207
  Gyroscope:
    Noise density: 0.00215568
    Noise density (discrete): 0.0304859189214 
    Random walk: 1.71656e-05
  T_i_b
    [[1. 0. 0. 0.]
     [0. 1. 0. 0.]
     [0. 0. 1. 0.]
     [0. 0. 0. 1.]]
  time offset with respect to IMU0: 0.0 [s]
  Gyroscope: 
    M:
      [[ 0.99614541  0.          0.        ]
       [-0.01992919  0.99649459  0.        ]
       [-0.00485307  0.00295268  1.00054348]]
    A [(rad/s)/(m/s^2)]:
      [[ 0.00037246 -0.00426586 -0.00221241]
       [-0.00090825 -0.00028218 -0.00003474]
       [ 0.00006073 -0.00069039 -0.00043801]]
    C_gyro_i:
      [[ 0.99996329 -0.00689499  0.00508646]
       [ 0.00684118  0.99992123  0.01052261]
       [-0.00515861 -0.01048743  0.9999317 ]]
  Accelerometer: 
    M:
      [[ 0.97479507  0.          0.        ]
       [-0.00888658  0.98007021  0.        ]
       [ 0.01728859 -0.0150517   0.98580593]]

2.Topic

imu_topic: "/camera/imu"
image_topic: "/camera/color/image_raw"
depth_topic: "/camera/aligned_depth_to_color/image_raw"