HKUST-Aerial-Robotics
Hello
Has anyone tested only stero, and how do you get body_T_cam0 and body_T_cam1?
I have same problem
you only need to satisfy cam1_T_cam0 = body_T_cam0*(body_T_cam1)^-1
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 (｡•́︿•̀｡)
you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1
THINKS!I REALLY APPRECIATE IT.
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] ？
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.
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
May I ask about the performance of your VINS-Fusion with a pure stereo setup？
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.