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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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cam-imu transformation comment the in .yaml files #241

Closed WoosikLee2510 closed 2 years ago

WoosikLee2510 commented 2 years ago

The transformation T_imu_cam is T_CtoI in RPNG convention (composed of R_CtoI and p_CinI. code: link). Therefore cam-imu transformation comments in the kalibr_imucam_chain.yaml files have to be changed as:

(ex: euroc_mav) T_imu_cam: #rotation from camera to IMU, position of IMU in camera
(ex: tum_vi) T_cam_imu: #rotation from IMU to camera, position of camera in IMU
->
(ex: euroc_mav) T_imu_cam: #rotation from camera to IMU, position of camera in IMU
(ex: tum_vi) T_cam_imu: #rotation from IMU to camera, position of IMU in camera