VINS Calibration

Targetless camera–IMU calibration. It runs alongside VIO, on any camera, and commits only what the data can prove.

1Cameras

Pick the cameras to calibrate. Calibrating a payload camera together with the VIO cameras is the recommended shape.

  • Loading cameras…

2Session

Where the data comes from and how long to collect.

Live

The prompt is the one thing to act on: it names the motion the session still lacks.

idle
Waiting for a session
idle
  • Settle
  • Bootstrap
  • Collect
  • Solve
  • Verify
  • Commit
Weakest calibration direction—
Collection budget—
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Windows kept
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Fusable
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Held out for verify
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Tracked Hz
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Features
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Drops

Calibrator log

voxl-zcalib’s console, relayed as it prints. A refusal or an abort is explained here first.

No session yet.

Session

Everything below comes from the report the calibrator wrote. Nothing is recomputed or smoothed in the browser.

voxl-open-vins-server.conf

What the server reads at boot. The four calibration keys (en_calib_hotstart, calibrate_first, calib_restore_governor, calib_hotstart_on_reset) are a group and default off. calibrate_first without en_calib_hotstart is ignored.

ov_calib.yaml — the calibrator profile

What the calibrator is given versus what it must earn. Not estimator_config.yaml, and it must not become it. The defaults are a measurement; the file’s own header carries the seeding matrix they came from.

One trap this file carriesA trailing comment containing a colon on a value line silently turns the value into a nested map, and the setting keeps its default. Keep comments on their own line.
Where it livesThe package ships the default at /usr/share/modalai/voxl-open-vins/ov_calib.yaml and copies it to /etc/modalai/ov_calib.yaml only when nothing is there yet. This editor reads and writes the /etc copy; a package upgrade never overwrites it. Delete it to fall back to the packaged default.