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TouchDeeper / VIW-Fusion

Visual-inertial-wheel fusion odometry, better performance in scenes with drastic changes in light
GNU General Public License v3.0
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请问在初始化的时候没有对轮速计的内外参进行初始化吗？而是直接给的初值吗？ #17

Closed RobotYi1 closed 1 year ago

TouchDeeper commented 1 year ago

进行了初始化，和初始化陀螺仪bias的方式类似

RobotYi1 commented 1 year ago

但是我在代码里没有找到关于轮速计的内外参的初始化相关内容，你能给我说下代码中具体位置吗。 bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x) { solveGyroscopeBias(all_image_frame, Bgs); if(USE_WHEEL) return LinearAlignmentWithWheel(all_image_frame, g, x); else return LinearAlignment(all_image_frame, g, x);

} 这一段是陀螺仪bias初始化的地方，没有轮速计的。

TouchDeeper commented 1 year ago

@cheyifanp 这里是直接用1初始化了