Kalibr config files for Oak D Lite

shivamtrip

Hi,

I would like to test the OpenVINS VIO algorithm with my Oak-D Lite. I will need to create camera and IMU config files similar to the ones shown in their repository. Do you know if there are already such files created for this camera model that you could guide me to, so that I could use it as a reference for quick testing?

jakaskerl

Hi shivamtrip
To my knowledge, no. Looking at imucam_chain and imu_chain, most values (IMU internal ACC/GYRO) should be identity matrices. IMUCAM extrinsics should be available here.

For random walk and noise, we don't know, best to ask the manufacturer of BNO086 IMU.

Thanks,
Jaka

shivamtrip

jakaskerl Got it, thank you!