bad result when cam-imu calibration using opt_imu_scale
when i use basalt to calibrate my stereo-imu data:
before using opt_imu_scale, i get result.
accel_bias: 0.0116093 -0.00418675 0.583356
gyro_bias: -0.248736 0.0148661 -0.00537873
g 9.77947 0.031554 0.653762 norm: **9.80135 **
after using opt_imu_scale, i get result.
accel_bias: 0.026088 0.00474599 -0.0426856
accel_scale:
0.170525 0 0
-0.00330567 0.170802 0
0.0203091 0.00859579 0.161397
gyro_bias: -0.234617 0.0179044 -0.0262583
gyro_scale:
0.946069 0.0133982 -0.101204
-0.0149286 0.922299 -0.0463908
0.0856128 0.023292 0.995739
g 1.69424 0.023113 -0.0197551 norm: 1.69451
**the gravity is bad and accel_scale is bad **
Then i use the code for calibrate TUM-VI dataset, the result is right.