Always get T=(0,0,0)

[gongyue666]

Hi all, nowadays I use kalibr to calibrate realsense L515 and a extend IMU. I do steps follow the tutorial , everything seems ok , but the final result get a T = (0,0,0). my camera and imu fix like this. final result like this. have I do something wrong to get this?

[mhyoosefian]

Hi,

The time shift is too large. So are the accelerometer and gyroscope errors. This makes me think that there is a problem in the data acquisition process. My advice: plot your rosbag using rqt and check whether data from camera and IMU are synched. Furthermore, plot your camera and IMU coordinate frames and make sure that the rotation matrices R_ic and R_ci make sense!

Regards, Mohammad