Comments (12)
I have same problem
from vins-fusion.
I have same problem
you only need to satisfy cam1_T_cam0 = body_T_cam0*(body_T_cam1)^-1
from vins-fusion.
I have same problem
you only need to satisfy cam1_T_cam0 = body_T_cam0*(body_T_cam1)^-1
THINKS!But iI just have the following parameters:
[front] leftIntrinsics = {240.000000, 0.000000, 240.000000, 0.000000, 240.000000, 240.000015, 0.000000, 0.000000, 1.000000 }
[front] rightIntrinsics = {240.000000, 0.000000, 240.000000, 0.000000, 240.000000, 240.000015, 0.000000, 0.000000, 1.000000 }
[front] rotationLeftInRight = {1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 }
[front] translationLeftInRight = {-63.780090, 0.000000, 0.000000 }
so i just have :
cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight]
it can't let me figure out body_T_cam0 and body_T_cam1 (。•́︿•̀。)
from vins-fusion.
you can set body_T_cam0 = Identity matrix,so body_T_cam1 = cam0_T_cam1
from vins-fusion.
you can set body_T_cam0 = Identity matrix,so body_T_cam1 = cam0_T_cam1
THINKS!I REALLY APPRECIATE IT.
from vins-fusion.
you can set body_T_cam0 = Identity matrix,so body_T_cam1 = cam0_T_cam1
THINKS!I REALLY APPRECIATE IT.
cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight],,or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ?
from vins-fusion.
you can set body_T_cam0 = Identity matrix,so body_T_cam1 = cam0_T_cam1
THINKS!I REALLY APPRECIATE IT.
cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight],,or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ?
cam0_T_cam1
Leftcamera is cam0.
from vins-fusion.
you can set body_T_cam0 = Identity matrix,so body_T_cam1 = cam0_T_cam1
THINKS!I REALLY APPRECIATE IT.
cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight],,or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ?
cam0_T_cam1 Leftcamera is cam0.
OK
from vins-fusion.
May I ask about the performance of your VINS-Fusion with a pure stereo setup?
from vins-fusion.
May I ask about the performance of your VINS-Fusion with a pure stereo setup?
I haven't calibrated the binocular camera + IMU yet. I only have the internal parameters of my camera, and I fill in the body_to_cam as described above, and I can't achieve trajectory estimation. But I can achieve binocular trajectory estimation with XTDRONE's body_to_cam parameters, but not with IMU (severe drift). So I'm now learning the binocular + IMU calibration process.
from vins-fusion.
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Can I add you a wechat?
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