From 23fb707520bf635ce7187069c11fe6bfdb069df2 Mon Sep 17 00:00:00 2001 From: Jianzhu Huai Date: Mon, 22 Jan 2024 20:30:11 +0800 Subject: [PATCH] comment --- .../kalibr/python/kalibr_calibrate_imu_camera | 10 ++++++---- .../kalibr/python/kalibr_simulate_imu_camera | 2 +- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera index d1feaec37..16de075f2 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera +++ b/aslam_offline_calibration/kalibr/python/kalibr_calibrate_imu_camera @@ -98,11 +98,13 @@ def createParser(): groupOpt.add_argument('--no-time-calibration', action='store_true', dest='no_time', help='Disable the temporal calibration', required=False) groupOpt.add_argument('--max-iter', type=int, default=30, dest='max_iter', help='Max. iterations (default: %(default)s)', required=False) groupOpt.add_argument('--recover-covariance', action='store_true', dest='recover_cov', help='Recover the covariance of the design variables.', required=False) - groupOpt.add_argument('--timeoffset-padding', type=float, default=30.e-3, dest='timeoffset_padding', help='Maximum range in which the timeoffset may change during estimation [s] (default: %(default)s)', required=False) + groupOpt.add_argument('--timeoffset-padding', type=float, default=30.e-3, dest='timeoffset_padding', + help='Maximum range in which the timeoffset may change during estimation [s]. ' + 'Pad the spline\'s two boundaries by this amount of time. (default: %(default)s)', required=False) groupOpt.add_argument('--timeoffset-pattern', type=float, default=30.e-3, dest='timeoffset_pattern', - help='A time offset to pad the blocks generated in the hessian/jacobian to ensure' - ' a constant symbolic representation of the batch estimation problem, even when a change' - ' in the shutter timing shifts the capture time to another spline segment.') + help='Extend an camera observation\'s control vertex span in time from [0.0, 0.0]' + ' to [-pattern, pattern] so as to allow the relevant control vertices slide ' + 'in between when estimating the time offset.') groupOpt.add_argument('--pose_knots_per_second', type=int, default=100, help='Pose knots per second (default: %(default)s)') groupOpt.add_argument('--bias_knots_per_second', type=int, default=50, diff --git a/aslam_offline_calibration/kalibr/python/kalibr_simulate_imu_camera b/aslam_offline_calibration/kalibr/python/kalibr_simulate_imu_camera index f59d7cb0c..9d425349c 100755 --- a/aslam_offline_calibration/kalibr/python/kalibr_simulate_imu_camera +++ b/aslam_offline_calibration/kalibr/python/kalibr_simulate_imu_camera @@ -122,7 +122,7 @@ def main(): simulator = Simulator.RsCameraImuSimulator(parsed) else: simulator = Simulator.RsCameraSimulator(parsed) - simulator.checkNaiveVsNewtonRsProjection(parsed.output_dir) + # simulator.checkNaiveVsNewtonRsProjection(parsed.output_dir) simulator.simulate(parsed.output_dir)