add imu.png

coolaogege · Dec 17, 2022 · 9a278df · 9a278df
1 parent 94d5e26
commit 9a278df
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Showing 4 changed files with 4 additions and 20 deletions.
diff --git a/config/M2DGR_camera.yaml b/config/M2DGR_camera.yaml
@@ -13,20 +13,6 @@ use_lidar: 1                     # whether use depth info from lidar or not
 lidar_skip: 3                    # skip this amount of scans
 align_camera_lidar_estimation: 1 # align camera and lidar estimation for visualization
 
-# lidar to camera extrinsic
-lidar_to_cam_tx: 0.27255
-lidar_to_cam_ty: -0.00053
-lidar_to_cam_tz: 0.17954
-lidar_to_cam_rx: 0.0
-lidar_to_cam_ry: 0.0
-lidar_to_cam_rz: 0.0
-
-# extrinsicRPY: !!opencv-matrix
-#    rows: 3
-#    cols: 1
-#    dt: d
-#    data: [1,0,0,0,1,0,0,0,1]
-
 # camera model
 model_type: PINHOLE
 camera_name: camera
@@ -73,6 +59,7 @@ extrinsicTranslation: !!opencv-matrix
    dt: d
    data: [0.57711, -0.00012, 0.83333]
 
+
 #feature traker paprameters
 max_cnt: 150            # max feature number in feature tracking
 min_dist: 20            # min distance between two features 

diff --git a/config/M2DGR_lidar.yaml b/config/M2DGR_lidar.yaml
@@ -27,11 +27,7 @@ lvi_sam:
   imuGyrBiasN: 1.4428407712885209e-05
   imuGravity: 9.805
 
-  # Extrinsics (lidar -> IMU)
-  extrinsicTrans: [0.27255, -0.00053,0.17954]
-  extrinsicRot: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-  extrinsicRPY: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-
+
   ###################### extrinsic between IMU and LiDAR  ###########################
   ###################### T_IMU_LiDAR, LiDAR -> IMU       ###########################
   extrinsicTranslation: [0.27255, -0.00053,0.17954]    

diff --git a/config/params_camera.yaml b/config/params_camera.yaml
@@ -57,14 +57,14 @@ extrinsicRotation: !!opencv-matrix
    data: [ 0, 0, -1, 
           -1, 0, 0, 
            0, 1, 0]
-
 #Translation from camera frame to imu frame, imu^T_cam
 extrinsicTranslation: !!opencv-matrix
    rows: 3
    cols: 1
    dt: d
    data: [0.006422381632411965, 0.019939800449065116, 0.03364235163589248]
 
+
 #feature traker paprameters
 max_cnt: 150            # max feature number in feature tracking
 min_dist: 20            # min distance between two features 

diff --git a/config/params_lidar.yaml b/config/params_lidar.yaml
@@ -27,6 +27,7 @@ lvi_sam:
   imuGyrBiasN: 3.5640318696367613e-05
   imuGravity: 9.80511
 
+
   ###################### extrinsic between IMU and LiDAR  ###########################
   ###################### T_IMU_LiDAR, LiDAR -> IMU       ############################
   extrinsicTranslation: [0.0, 0.0, 0.0]