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Coordinate System Definition #39
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Hello. The IMU frame should be front-right-down, which is determined by the INS mechanization algorithm. This can be simply achieved by swapping the axis of IMU with correct signs. The camera frame is usually defined as right-down-front. You should just prepare a correct extrinsic parameters. |
Thank you for your reply. As far as I understand your suggestion I think I did exactly that. However, my travel direction is not in the direction of the camera. Does that effect the algorithm somehow? I also tried running the urban Dataset, however there I had the same problem. Could you share how you handle the arriving IMU ros message in the fusion_ros.cc file? I looked up the IMU coordinate system for the urban dataset and it is similar to mine. When looking at the image below, the IMU-x axis faces forward, but the y and z-axis have to be modified. To make it a Front-Right-Down system, the y values has to be inverted and the z values as well. `imu_.dtheta[0] = imumsg->angular_velocity.x * imu_.dt; imu_.dvel[0] = imumsg->linear_acceleration.x * imu_.dt; However, if I run this modification with the urban config file, the code still fails to run. |
Hello,
The last couple of days I have been trying to test the IC-GVINS code on my own dataset. However, my Camera-IMU coordinate systems transformation is not working. In the image below I added the setup of my system. My IMU-Coordinate system is not setup as suggested for the IC-GVINS and doesn't conform to Front(x)-Right(y)-Down(z). Because I tested this setup on VINS-Fusion with calibration of camera, and camera-IMU with Kalibr I was hoping that still would work, however it doesn't. To get my system in the Front-Right-Down format I tried:
My question now: How do I properly configure and calibrate the coordinate frames of each system?
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