Mingyu Chen

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,...

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.

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

Thanks for you feedback. The z-drift is due to the incorrect IMU-camera calibration. However, it can be tricky to perform the IMU extrinsic calibration, so we simply assume it's identity...

D_T_C_l: CamLeft to Device D_T_C_r: CamRight to Device D_T_I: Imu to Device In our typical setup, we set the CamLeft as Device. {Cl} and {I} should be aligned on the...

The kalibr result looks reasonable. It will be helpful to record some data and share w/ us. You may email us at [email protected].

It should work for any shape of paths. For simplicity of mapper, we heuristically fixed the path enclosed within the loop. Please show us the error message you saw when...

Please provide us with the map (.pb file) and a short data recording of the case that failed to reloc.

This message should actually be WARNING instead ERROR. It basically says the `Optimize3dPoints` took too long, but nothing harmful happened. I'll close this issue for now.

By "suddenly exit", do you mean `app_tracking` core dump / segfault? If `app_tracking` crashes, it will not reach the map saving part. Ideally, this should *NOT* happen. Can you try...