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release/4.3a0
Nghia Ho 2018-12-14 12:18:43 -08:00
parent 4da1b7189d
commit e8da58725f
1 changed files with 4 additions and 5 deletions
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9
examples/ISAM2_SmartFactorStereo_IMU.cpp
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@ -59,10 +59,9 @@ struct IMUHelper {
p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5; p->biasAccOmegaInt = Matrix::Identity(6, 6) * 1e-5;
// body to IMU rotation // body to IMU rotation
Rot3 iRb( Rot3 iRb(0.036129, -0.998727, 0.035207,
0.036129, -0.998727, 0.035207, 0.045417, -0.033553, -0.998404,
0.045417, -0.033553, -0.998404, 0.998315, 0.037670, 0.044147);
0.998315, 0.037670, 0.044147);
// body to IMU translation (meters) // body to IMU translation (meters)
Point3 iTb(0.03, -0.025, -0.06); Point3 iTb(0.03, -0.025, -0.06);
@ -112,7 +111,7 @@ int main(int argc, char* argv[]) {
double fy = 822.37; double fy = 822.37;
double cx = 538.73; double cx = 538.73;
double cy = 579.10; 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)); Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx, fy, 0.0, cx, cy, baseline));