{"action":"created","issue":{"url":"https://api.github.com/repos/ethz-asl/kalibr/issues/50","repository_url":"https://api.github.com/repos/ethz-asl/kalibr","labels_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/50/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/50/comments","events_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/50/events","html_url":"https://github.com/ethz-asl/kalibr/issues/50","id":160819595,"number":50,"title":"Multiple IMU calibration configuration unclarity","user":{"login":"timonh","id":5803026,"avatar_url":"https://avatars.githubusercontent.com/u/5803026?v=3","gravatar_id":"","url":"https://api.github.com/users/timonh","html_url":"https://github.com/timonh","followers_url":"https://api.github.com/users/timonh/followers","following_url":"https://api.github.com/users/timonh/following{/other_user}","gists_url":"https://api.github.com/users/timonh/gists{/gist_id}","starred_url":"https://api.github.com/users/timonh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/timonh/subscriptions","organizations_url":"https://api.github.com/users/timonh/orgs","repos_url":"https://api.github.com/users/timonh/repos","events_url":"https://api.github.com/users/timonh/events{/privacy}","received_events_url":"https://api.github.com/users/timonh/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-06-17T06:19:23Z","updated_at":"2016-06-17T06:46:40Z","closed_at":null,"body":"Hi all,\r\n\r\nI am looking into the calibration of two imu's using KALIBR to obtain an estimation of their relative spacial transform. (Imu1 with respect to imu0)\r\n\r\nMy question is: For performing the multi imu calibration: do I move the robot and bag the two IMU-topics (imu0 and imu1) and run the calibration or do I move the robot and bag the two IMU-topics as well as two camera topics (with an aprilgrid in the field of view) thus -> imu0, imu1, cam0, cam1.\r\n\r\nI think this might need more clarification in the Wiki.\r\n\r\nThanks!\r\n\r\nT"},"comment":{"url":"https://api.github.com/repos/ethz-asl/kalibr/issues/comments/226693555","html_url":"https://github.com/ethz-asl/kalibr/issues/50#issuecomment-226693555","issue_url":"https://api.github.com/repos/ethz-asl/kalibr/issues/50","id":226693555,"user":{"login":"rehderj","id":1918062,"avatar_url":"https://avatars.githubusercontent.com/u/1918062?v=3","gravatar_id":"","url":"https://api.github.com/users/rehderj","html_url":"https://github.com/rehderj","followers_url":"https://api.github.com/users/rehderj/followers","following_url":"https://api.github.com/users/rehderj/following{/other_user}","gists_url":"https://api.github.com/users/rehderj/gists{/gist_id}","starred_url":"https://api.github.com/users/rehderj/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rehderj/subscriptions","organizations_url":"https://api.github.com/users/rehderj/orgs","repos_url":"https://api.github.com/users/rehderj/repos","events_url":"https://api.github.com/users/rehderj/events{/privacy}","received_events_url":"https://api.github.com/users/rehderj/received_events","type":"User","site_admin":false},"created_at":"2016-06-17T06:46:40Z","updated_at":"2016-06-17T06:46:40Z","body":"Hi,\r\n\r\nthank you for your interest in our work. While some documentation is still missing, I believed this to be contained in our wiki. Please see https://github.com/ethz-asl/kalibr/wiki/Multi-IMU-and-IMU-intrinsic-calibration#2-dataset-collection which in turn links to https://github.com/ethz-asl/kalibr/wiki/Camera-IMU-calibration#2-collect-images which states that you should indeed record at least one image stream with your IMUs.\r\nThe multi-IMU calibration is a straight-forward *extension* of kalibr which requires the exact same work flow with the difference that you may record and calibrate multiple IMUs, IMU intrinsics and size effect.\r\n\r\nCheers, Joern"}}
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