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
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 thekalibr_imucam_chain.yaml
files have to be changed as: