Camera orientation of D435i

[EhrazImam]

Hi @mzahana ,
I'm using vins with d435i camera and I'm using image of camera only not the imu of it because when we're enabling the imu the vins is getting extreme distorted,also we have done imu calibration perfectly and the calibration data is also perfect but i don't why it's getting distorted although vins is working great with image only so im using it for now.Now I'm facing an orientation problem in vins like in vins rviz the camera is in upward direction also when we move our drone upward the value of -y is increasing and when we are moving our drone forward the z is increasing...
Please help regarding the issue

[mzahana]

@EhrazImam I can see you have multiple questions.

Regarding the quality of vins estimation with IMU, you need to make sure you have good calibration of the rgb camera (I use Kalibr), IMU (I use imu_utils), and rgb+imu (Kalibr). The estimation is sensitive to the calibration quality. In addition, if you are using this estimation on a drone, there is a chance that the IMU readings are affected by vibrations. For that, I suggest that you use a damped IMU. You can damp the D435i camera, or use the IMU inside the FCU, if it's damped. If you use the IMU inside the FCU, then you need to make sure that you obtain the IMU characteristic (I would use imu_utils), and calibrate IMU+RGB using Kalibr.

Regarding the orientation, it's a matter of perspective. There is not enough information regarding that frames you are using to make conclusions.

[bhaskar-glitch]

@EhrazImam I can see you have multiple questions.

Regarding the quality of vins estimation with IMU, you need to make sure you have good calibration of the rgb camera (I use Kalibr), IMU (I use imu_utils), and rgb+imu (Kalibr). The estimation is sensitive to the calibration quality. In addition, if you are using this estimation on a drone, there is a chance that the IMU readings are affected by vibrations. For that, I suggest that you use a damped IMU. You can damp the D435i camera, or use the IMU inside the FCU, if it's damped. If you use the IMU inside the FCU, then you need to make sure that you obtain the IMU characteristic (I would use imu_utils), and calibrate IMU+RGB using Kalibr.

Regarding the orientation, it's a matter of perspective. There is not enough information regarding that frames you are using to make conclusions.

I'm using infra1 and infra 2 in the VINS.

[EhrazImam]

Hi @mzahana can you please share your calibration file, so i can crosscheck it....
That will be a great help
thankyou