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