标定文件中参数含义 about boteye

[mingyux]

A1:

Imu:
corrected_accel = accel_TK * (raw_accel - accel_bias)
corrected_gyro = gyro_TK * (raw_gyro - gyro_bias)
accel_noise_var: the noise std ^2 
angv_noise_var: the noise std ^2
D_T_I: The transformation from {I}mu to {D}evice.

Camera: 
D_T_C_l: The transformation from {C}amera_left to {D}evice.  Note that in boteye, we set {D} to {Cl}
D_T_C_r: The transformation from {C}amera_right to {D}evice.
cameraK_l: camera left intrinsics.
cameraK_r: camera right intrinsics.
dist_coeff_l: [k1, k2, p1, p2, k3, k4, k5, k6] of camera left
dist_coeff_r: [k1, k2, p1, p2, k3, k4, k5, k6] of camera left
img_size: image size of the camera output (identical for both cameras).

[mingyux]

A2:
Due to the sensor manufacturing, we simply assume D_T_C is identity. Although the translation can be ~1cm off. Technically, this assumption won't make any difference. If you really care, you can do IMU-camera calibration with Kalibr. although the wrapper is not provided at this moment.

[mingyux]

A3:
These imu intrinsics are measured and then heuristically tuned for the IMU we use on boteye sensor. The parameters are not exposed at this moment.

[mingyux]

A4:
Make sure you set the correct -sensor_type. Even w/ a bad calibration it should not fly away when static.