use the urban28 config info

config/kaist/kalibr_imucam_chain.yaml

@@ -2,9 +2,9 @@
 
 cam0:
   T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
-    - [-0.00413,-0.01966,0.99980,1.73944]
-    - [-0.99993,-0.01095,-0.00435,0.27803]
-    - [0.01103,-0.99975,-0.01962,-0.08785]
+    - [-0.00681,-0.01532,0.99987,1.71239]
+    - [-0.99998,0.00033,-0.00680,0.24740]
+    - [-0.00023,-0.99988,-0.01532,-0.11589]
     - [0.0, 0.0, 0.0, 1.0]
   cam_overlaps: [1]
   camera_model: pinhole
@@ -16,9 +16,9 @@ cam0:
 
 cam1:
   T_imu_cam: #rotation from camera to IMU R_CtoI, position of camera in IMU p_CinI
-    - [-0.00768,-0.01509,0.99986,1.73376]
-    - [-0.99988,-0.01305,-0.00788,-0.19706]
-    - [0.01317,-0.99980,-0.01499,-0.08271]
+    - [-0.01036,-0.01075,0.99990,1.70544]
+    - [-0.99994,-0.00178,-0.01038,-0.22770]
+    - [0.00189,-0.99994,-0.01073,-0.11611]
     - [0.0, 0.0, 0.0, 1.0]
   cam_overlaps: [0]
   camera_model: pinhole
@@ -27,3 +27,4 @@ cam1:
   intrinsics: [8.1378205539589999e+02,8.0852165574269998e+02,6.1386419539320002e+02,2.4941049348650000e+02]
   resolution: [1280, 560]
   rostopic: /stereo/right/image_raw
+

docs/gs-datasets.dox

@@ -171,6 +171,7 @@ The [KAIST urban dataset](https://sites.google.com/view/complex-urban-dataset) @
 The dataset was collected in Korea with a vehicle equipped with stereo camera pair, 2d SICK LiDARs, 3d Velodyne LiDAR, Xsens IMU, fiber optic gyro (FoG), wheel encoders, and RKT GPS.
 The camera is 10 Hz, while the Xsens IMU is 100 Hz sensing rate.
 A groundtruth "baseline" trajectory is also provided which is the resulting output from fusion of the FoG, RKT GPS, and wheel encoders.
+We provide [processing scripts](https://github.com/rpng/open_vins/tree/master/ov_data/kaist/matlab) to generate the calibration and groundtruth from the dataset's formats.
 
 @m_class{m-block m-warning}
 
@@ -215,7 +216,7 @@ Typically we process the datasets at 1.5x rate so we get a ~20 Hz image feed and
 The [KAIST VIO dataset](https://github.com/url-kaist/kaistviodataset) @cite Jeon2021RAL is a dataset of a MAV in an indoor 3.15 x 3.60 x 2.50 meter environment which undergoes various trajectory motions.
 The camera is intel realsense D435i 25 Hz, while the IMU is 100 Hz sensing rate from the pixelhawk 4 unit.
 A groundtruth "baseline" trajectory is also provided from a OptiTrack Mocap system at 50 Hz, the bag files have the marker body frame to IMU frame already applied.
-This topic has been provided in ov_data for convinces sake.
+This topic has been provided in ov_data for convenience sake.
 
 @m_div{m-text-center}
 | Dataset Name | Length (km) | Dataset Link | Groundtruth Traj. | Example Launch |

ov_data/kaist/matlab/kaist_calculate_imu2cam.m

@@ -3,11 +3,12 @@
 close all;
 
 
+% stereoParams.mat
 % load their stereo parameters
 % looks like they used the matlab calibration tool to get it.
 % https://www.mathworks.com/help/vision/ref/stereoparameters.html#d117e94134
 load ../raw/stereoParams.mat
-%stereoParams = toStruct(stereoParams);
+stereoParams = toStruct(stereoParams);
 
 % transform between the left (stereo pair base) and the right camera
 % the units of the stereo parameters are millimeters
@@ -19,21 +20,23 @@
     0 0 0 1
 ];
 
-
-% T_LtoR = zeros(4,4);
-% T_LtoR(1,1) = 1;
-% T_LtoR(1,4) = -0.4751;
-% T_LtoR(2,2) = 1;
-% T_LtoR(3,3) = 1;
-% T_LtoR(4,4) = 1;
+% Use this computed output if you do not have the toolbox
+% TODO: can we manually read in the stereParams.mat? (probs not)
+% T_LtoR = [...
+%     1.0000   -0.0021   -0.0036   -0.4751;
+%     0.0021    1.0000    0.0046   -0.0011;
+%     0.0036   -0.0046    1.0000    0.0020;
+%          0         0         0    1.0000;
+% ];
 
 
 % Vehicle2Stereo.txt
 % Stereo camera (based on left camera) extrinsic calibration parameter from vehicle
-% WHAT????? THEIR POSITION IS INCORRECTLY THE OPOSITE
-% DIRECTION????!@#!@#?!@#!@#$!@$%!#@%!#%!~@%!@#%@!#^%#@%^!@#%@#%
-p_LinV = [1.66944; 0.278027; 1.61215];
-R_LtoV = [-0.00413442 -0.0196634 0.999798; -0.999931 -0.0109505 -0.00435034; 0.0110338 -0.999747 -0.0196168];
+% NOTE: This was taken from the Urban28 dataset
+% NOTE: The sample_with_img.tar.gz has different calibration (shouldn't be used)
+% WHAT????? THEIR POSITION IS INCORRECTLY THE OPOSITE DIRECTION????
+p_LinV = [1.64239; 0.247401; 1.58411];
+R_LtoV = [-0.00680499 -0.0153215 0.99985; -0.999977 0.000334627 -0.00680066; -0.000230383 -0.999883 -0.0153234];
 T_VtoL = [...
     R_LtoV' -R_LtoV'*p_LinV;
     0 0 0 1
@@ -50,7 +53,6 @@
 ];
 
 
-
 % calculate the transform between the camneras and the IMU
 T_LtoI = T_VtoI*inv(T_VtoL);
 T_RtoI = T_VtoI*inv(T_LtoR*T_VtoL);

ov_msckf/launch/serial.launch

@@ -2,14 +2,14 @@
 
     <!-- what config we are going to run (should match folder name) -->
     <arg name="verbosity"   default="INFO" /> <!-- ALL, DEBUG, INFO, WARNING, ERROR, SILENT -->
-    <arg name="config"      default="euroc_mav" /> <!-- euroc_mav, tum_vi, rpng_aruco -->
+    <arg name="config"      default="euroc_mav" /> <!-- euroc_mav, tum_vi, rpng_aruco, kaist -->
     <arg name="config_path" default="$(find ov_msckf)/../config/$(arg config)/estimator_config.yaml" />
 
     <!-- mono or stereo and what ros bag to play -->
     <arg name="max_cameras" default="2" />
     <arg name="use_stereo"  default="true" />
     <arg name="bag_start"   default="0" /> <!-- v1-2: 0, mh1: 40, mh2: 35, mh3: 17.5, mh4-5: 15 -->
-    <arg name="dataset"     default="V2_02_medium" /> <!-- V1_01_easy, V1_02_medium, V1_03_difficult, V2_02_medium, dataset-room1_512_16 -->
+    <arg name="dataset"     default="V1_02_medium" /> <!-- V1_01_easy, V1_02_medium, V1_03_difficult, V2_02_medium, dataset-room1_512_16 -->
     <arg name="bag"         default="/media/patrick/RPNG FLASH 3/$(arg config)/$(arg dataset).bag" />
     <!-- <arg name="bag"         default="/home/patrick/datasets/$(arg config)/$(arg dataset).bag" /> -->
     <!-- <arg name="bag"         default="/datasets/$(arg config)/$(arg dataset).bag" /> -->