patriksc
commented
4 years ago Hi, T_SC is the transformation from Camera frame to Sensor frame (i.e. the IMU frame). It's used to transform the estimated trajectory into the IMU frame before writing it into a file, since we're usually evaluating on the EuRoC dataset, and the EuRoC ground-truth is expressed in the IMU frame. The algorithm itself does not need the IMU frame, you can set it to identity if you don't need it.
Hey, What are the #T_SC matrix parameters stand for? They do not exist in the method of calibration I use, not in the original orb slam implementation.