If i get the camera imu transform from the SDK, is that transform then from the imu to the camera sensor, or is it from the imu to the optical center? I am using a zed x one with my own lens. If i should compare it to kalibr result, should i then add the focal distance to the transform i get from the ZED sdk?
I have the same question, did you get the transform from the parameter camera_imu_transform?
I got the transform from camera_imu_transform. I never got a answer though so im not 100% sure, but my guess is its the transform from imu to sensor, so i would think you need to add the focal length to the z-axis if you need it to focal point. I couldnt properly calibrate the imu transform with kalibr since i have a issue with a unstable IMU frequency when using the SDK, so i cant verify it unfortunately
The transform refers to the relative pose of the center of the two sensors, so you are right, you must also consider the focal point position.
This information will soon be available in the datasheet of each camera.
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I have read that you calibrate the bias of the imu during camera calibration. Is the imu data still corrected for bias if i bought a zed x one without lens then?
No, camera with no lenses are not factory calibrated.
Okay, thank you. Just to confirm, the camera_imu_transform i get from the SDK is still correct for the cameras without lenses right? And is it enough to run your ZED_Calibration --calib_gyro and --calib_dynamic to get the biases and to get it to correct for those?
Yes, that’s correct.
Yes again