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MARSLab-UMN / MARS-VINS

MARS-VINS binary release repository
http://mars.cs.umn.edu/
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how does the IMU-Camera Extrinsic quaternion convert to a rotation matrix? #5

Open nikemouse opened 7 years ago

nikemouse commented 7 years ago

I try to run left images from Regular_1 dataset on a monocular slam program。howerver，how does the config.txt imu_q_cam_left and imu_p_cam_left convert to Rotaiton /Translation (camera frame to imu frame)? imu_q_cam_left correspond to (x,y,z,w)? or imu_q_cam_left correspond to (w,x,y,z)?

doomzzju commented 7 years ago

perhaps MARS uses the JPL quaternion...

paulmrinal commented 6 years ago

(x,y,z,w), JPL convention.