antithing
antithing
...more debugging notes, when i reproject the marker corners using the filter pose, it looks rotated, making me think I have an error somewhere in the way I am passing...
Ah apologies for the incorrect tag! @mascheiber, thank you very much! Getting closer!
@mascheiber Thank you for the excellent explanation. This is amazing support, and it is much appreciated! Before I test the vision sensor changes above, in the interest of confirming there...
Copying that code gives me an error, should these lines be? ``` Eigen::Vector3d p_ic(pose_sensor_state.**p_ip_**); Eigen::Matrix3d R_ic(pose_sensor_state.**q_ip_**.toRotationMatrix()); ``` If so, please see csv attached, and corresponding video below. https://github.com/aau-cns/mars_lib/assets/11506730/4713d68c-89e1-4ff9-b9a0-9ebcb2bec685 [mars_core_state.csv](https://github.com/aau-cns/mars_lib/files/12683530/mars_core_state.csv) Thanks!
[mars_core_state.csv](https://github.com/aau-cns/mars_lib/files/12684013/mars_core_state.csv) [mars_pose_state.csv](https://github.com/aau-cns/mars_lib/files/12684014/mars_pose_state.csv) Absolutely. Both csv's attached! Let me know if you want a video as well and I will get another dataset over to you. Thanks!
Hi @mascheiber ! Copy that. Just so I am clear, I have this: ``` sl::SensorParameters& sensor_parametersAccel = info.sensors_configuration.accelerometer_parameters; sl::SensorParameters& sensor_parametersGyro = info.sensors_configuration.gyroscope_parameters; float gyroNoise = sensor_parametersGyro.noise_density; float accelNoise = sensor_parametersAccel.noise_density;...
Excellent. Like this? ``` std::vector imu_n_w{ gyroNoise * (M_PI /180), gyroNoise * (M_PI / 180), gyroNoise * (M_PI / 180) }; std::vector imu_n_bw{ gyroWalk, gyroWalk, gyroWalk }; std::vector imu_n_a{ accelNoise...
..printing : ``` std::cout
These changes give the attached result, still seeing a lot of drift. Could it be the imu-camera offset values as well? Would that cause this kind of drift? Thank you...
Hi @mascheiber all attached here! Thank you yet again for your incredible support on this. printing: ``` float gyroNoise = sensor_parametersGyro.noise_density; float accelNoise = sensor_parametersAccel.noise_density; float gyroWalk = sensor_parametersGyro.random_walk; float...