Closed matancor99 closed 2 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.
Closed - inactive
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.