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				|  | @ -59,10 +59,9 @@ struct IMUHelper { | |||
|     p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5; | ||||
| 
 | ||||
|     // body to IMU rotation
 | ||||
|     Rot3 iRb( | ||||
|        0.036129, -0.998727,  0.035207, | ||||
|        0.045417, -0.033553, -0.998404, | ||||
|        0.998315,  0.037670,  0.044147); | ||||
|     Rot3 iRb(0.036129, -0.998727, 0.035207, | ||||
|              0.045417, -0.033553, -0.998404, | ||||
|              0.998315, 0.037670, 0.044147); | ||||
| 
 | ||||
|     // body to IMU translation (meters)
 | ||||
|     Point3 iTb(0.03, -0.025, -0.06); | ||||
|  | @ -112,7 +111,7 @@ int main(int argc, char* argv[]) { | |||
|   double fy = 822.37; | ||||
|   double cx = 538.73; | ||||
|   double cy = 579.10; | ||||
|   double baseline = 0.372; // meters
 | ||||
|   double baseline = 0.372;  // meters
 | ||||
| 
 | ||||
|   Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx, fy, 0.0, cx, cy, baseline)); | ||||
| 
 | ||||
|  |  | |||
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