Take T_cn_cnm1 instead of cam1/T_cam_imu from the calibration file

2018-01-12 13:21:23 -05:00
parent 365c45c46f
commit 050c50defa
3 changed files with 13 additions and 11 deletions
--- a/config/camchain-imucam-euroc.yaml
+++ b/config/camchain-imucam-euroc.yaml
@@ -19,6 +19,11 @@ cam1:
    -0.999755099723116,   0.013011905181504,   0.017900583825251,  -0.020569771258915,
     0.018223771455443,   0.025158836311552,   0.999517347077547,  -0.008638135126028,
                     0,                   0,                   0,   1.000000000000000]
+  T_cn_cnm1:
+    [0.999997256477881,   0.002312067192424,   0.000376008102415,  -0.110073808127187, 
+    -0.002317135723281,   0.999898048506644,   0.014089835846648,   0.000399121547014,
+    -0.000343393120525,  -0.014090668452714,   0.999900662637729,  -0.000853702503357, 
+                     0,                   0,                   0,   1.000000000000000]
  camera_model: pinhole
  distortion_coeffs: [-0.28368365,  0.07451284, -0.00010473, -3.55590700e-05]
  distortion_model: radtan