zhang huankun

这个项目很棒，感谢老铁的无私分享。 有个小问题，使用`data_augmentation.py`扩充原始数据集后，生成的图片为何手是蓝色的。 见下图。   请问是`flow( )`这个函数的影响吗？

+1

According to my experience, you'd better calibrate the device yourself (I use imu_utils and kalibr). Not using `estimate_extrinsic` should input 0 instead of 2.

@shubhamwagh I encounter the same problem as yours. luckily, I address it at the end. The key is to calibrate the VIO device yourself, **DON'T USE ITS OWN PARAMETERS**. I...

> @LuciousZhang Can you please mention which camera model from Kalibr you used? @mzahana MEI

@mzahana ``body_T_cam0``should not be a identity matrix. It is the extrinsic matrix between cam0 to imu. Identity matrix indicates the imu and cam0 are overlapped, which is impossible. You need...