From bb7e5facd73495aeac3c8dcd5e0ad145bc18540e Mon Sep 17 00:00:00 2001 From: Thomas Schneider Date: Mon, 3 Sep 2018 12:31:00 +0200 Subject: [PATCH 1/2] Enable temporal calibration by default. --- .../kalibr/python/kalibr_calibrate_imu_camera | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera index 13d381c1c..a231544d2 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera +++ b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera @@ -45,11 +45,11 @@ def parseArgs(): return formatter.format_help() usage = """ - Example usage to calibrate a camera system against an IMU using an aprilgrid - with temporal calibration enabled. + Example usage to calibrate a camera system against an IMU using an aprilgrid. + Temporal calibration is enabled by default. %(prog)s --bag MYROSBAG.bag --cam camchain.yaml --imu imu.yaml \\ - --target aprilgrid.yaml --time-calibration + --target aprilgrid.yaml camchain.yaml: is the camera-system calibration output of the multiple-camera calibratin tool (kalibr_calibrate_cameras) @@ -89,7 +89,7 @@ def parseArgs(): #optimization options groupOpt = parser.add_argument_group('Optimization options') - groupOpt.add_argument('--time-calibration', action='store_false', dest='no_time', help='Enable the temporal calibration', required=False) + groupOpt.add_argument('--no-time-calibration', action='store_true', dest='no_time', help='Disable the temporal calibration', required=False) groupOpt.add_argument('--max-iter', type=int, default=30, dest='max_iter', help='Max. iterations (default: %(default)s)', required=False) groupOpt.add_argument('--recover-covariance', action='store_true', dest='recover_cov', help='Recover the covariance of the design variables.', required=False) groupOpt.add_argument('--timeoffset-padding', type=float, default=10.e-3, dest='timeoffset_padding', help='Maximum range in which the timeoffset may change during estimation [s] (default: %(default)s)', required=False) From 3bad944972abbc918a86b5521e7702d3e17612c9 Mon Sep 17 00:00:00 2001 From: Thomas Schneider Date: Tue, 23 Oct 2018 09:51:29 +0200 Subject: [PATCH 2/2] Update kalibr_calibrate_imu_camera --- .../kalibr/python/kalibr_calibrate_imu_camera | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera index a231544d2..69ae426b8 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera +++ b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera @@ -92,7 +92,7 @@ def parseArgs(): groupOpt.add_argument('--no-time-calibration', action='store_true', dest='no_time', help='Disable the temporal calibration', required=False) groupOpt.add_argument('--max-iter', type=int, default=30, dest='max_iter', help='Max. iterations (default: %(default)s)', required=False) groupOpt.add_argument('--recover-covariance', action='store_true', dest='recover_cov', help='Recover the covariance of the design variables.', required=False) - groupOpt.add_argument('--timeoffset-padding', type=float, default=10.e-3, dest='timeoffset_padding', help='Maximum range in which the timeoffset may change during estimation [s] (default: %(default)s)', required=False) + groupOpt.add_argument('--timeoffset-padding', type=float, default=30.e-3, dest='timeoffset_padding', help='Maximum range in which the timeoffset may change during estimation [s] (default: %(default)s)', required=False) #Result options outputSettings = parser.add_argument_group('Output options')