Camera-imu alignment algorithm - #484

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TakKanekoGit wants to merge 48 commits into

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TakKanekoGit:feature/camera_imu_alignment

Commits on Jun 20, 2026

Initial commit of Camera-IMU calibration algo
Tak Kaneko
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3328a8a
Fix & add comments
Tak Kaneko
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d1065b6

Commits on Aug 2, 2026

Merge branch 'main' into feature/camera_imu_alignment
Tak Kaneko
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95b3853
Move camera/IMU alignment code to imu/
Tak Kaneko
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1d43636
Comment where the changes need to be made in integrator
Tak Kaneko
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9341db0
Refactor ensure_quat_continuity(): Move to quaternion_transforms.py
Tak Kaneko
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d9c4c8e
Rename
Tak Kaneko
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4bea85f

Commits on Aug 3, 2026

Fix RaDecRoll.from_quaternion(): Set valid to True
Tak Kaneko
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524e128
Commit preprocess_imu_alignment.py
Tak Kaneko
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62150bc
Rename
Tak Kaneko
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e83cc3a
Transfer functionality to imu_alignment.py and leave pure solver functionalities in imu_alignment_solve.py
Tak Kaneko
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1091ada
Generalise solve funcs
Tak Kaneko
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386f071

Commits on Aug 6, 2026

Routine to process pairings in loop and solve
Tak Kaneko
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98a2220

Commits on Aug 7, 2026

Move to imu_align/
Tak Kaneko
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f69d68d
Generalise
Tak Kaneko
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a44acb7
Move funcs around
Tak Kaneko
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88d2d94
Fix
Tak Kaneko
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03af963
Use sets for remove_lidx for efficiency & simplicity. Refactor.
Tak Kaneko
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3b23d65
Simplify. Return solution
Tak Kaneko
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ff88d5a

Commits on Aug 15, 2026

Refactor. Class for diagnostics, use logging
Tak Kaneko
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b71e81e
Merge branch 'main' into feature/camera_imu_alignment
Tak Kaneko
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3c6b79c
Runs but solution isn't sensible
Tak Kaneko
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05ac43c
Trying out quaternion continuity
Tak Kaneko
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6edea94

Commits on Aug 16, 2026

Fixed by giving relative rotation quaternions dq to the solver
Tak Kaneko
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975667b
Refactor diagnostics
Tak Kaneko
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66f7a11
Calculate uncertainty at solution. Get outlier removing working - improvement but not a lot (still around 1.5 deg std error)
Tak Kaneko
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5081d93

Commits on Aug 19, 2026

Add logging
Tak Kaneko
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b27d469
Fixed issue with mis-matching time difference list length after outlier-removal
Tak Kaneko
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026139e
Save diagnostics from first pass
Tak Kaneko
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37458d7
Use SD as an additional metric for outlier detection
Tak Kaneko
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4e88286
Clean up, rename
Tak Kaneko
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fb4e81e
Merge branch 'main' into feature/camera_imu_alignment
Tak Kaneko
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375fe3a
Refactor. Assign default values to ImuCameraAlignment that works well
Tak Kaneko
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e513fee
Integrate IMU/Camera alignement into integrator.py. Not tested yet!
Tak Kaneko
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3e1888a
Add commentary
Tak Kaneko
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df284da

Commits on Aug 21, 2026

Estimate the DoF properly accounting for connected samples. Uncertainty estimates are more realistic now.
Tak Kaneko
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71a501a
Fix import
Tak Kaneko
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6691083
Fix incorrect change in coordinates.py
TakKanekoGit
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1803365
Move main block to tests
TakKanekoGit
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1f0f67e
Relabeling this as 2.6.3 to skip private 2.6.2 release

brickbots
authored and
TakKanekoGit
committed
b9fc235
fix(optics): no FOV gate for frames from an unknown optical train (#632)

authored and
TakKanekoGit
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31090c4
Refactor
Tak Kaneko
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b5d6a48

Commits on Aug 22, 2026

Lint
TakKanekoGit
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6f581ee
Lint: Format
TakKanekoGit
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9b9a49a
Fix type hint errors
TakKanekoGit
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9b2cb05
Remove dead code
TakKanekoGit
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7ce82e0
Update tests
TakKanekoGit
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281861f
Lint
TakKanekoGit
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2b24c56