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:zap: The Mobile Robot Programming Toolkit (MRPT)
https://docs.mrpt.org/reference/latest/
BSD 3-Clause "New" or "Revised" License
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The transform from IMU to camera #1169

Closed joegeng closed 3 years ago

joegeng commented 3 years ago

Hi Jose, I download the Malaga Urban Dataset to study the SLAM, but i can not find the transform from IMU to Left camera, could you provide the pose to me? Thank you very much!

jlblancoc commented 3 years ago

(For the records)

Hi,

That transformation can be obtained from Table 2 here.

for example, building in Python / Matlab the 4x4 homogeneous matrix for the poses of the camera P_c and the IMU P_i, and doing: inv(P_i) * P_c.

Hope it helps.