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小白逆袭 2023-02-13 18:32:10 +08:00 committed by GitHub
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src/LocalMapping.cc
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@ -1609,7 +1609,7 @@ void LocalMapping::InitializeIMU(float priorG, float priorA, bool bFIBA)
dirG = dirG/dirG.norm(); dirG = dirG/dirG.norm();
// 原本的重力方向 // 原本的重力方向
Eigen::Vector3f gI(0.0f, 0.0f, -1.0f); Eigen::Vector3f gI(0.0f, 0.0f, -1.0f);
// 求重力在世界坐标系下的方向与重力在重力坐标系下的方向的叉乘 // 求“重力在重力坐标系下的方向”与的“重力在世界坐标系（纯视觉）下的方向”叉乘
Eigen::Vector3f v = gI.cross(dirG); Eigen::Vector3f v = gI.cross(dirG);
// 求叉乘模长 // 求叉乘模长
const float nv = v.norm(); const float nv = v.norm();