T_SC about okvis

[aforster]

S (for sensor) represents the IMU frame in okvis. So T_SC = T_IC

[maym86]

So

In the sensor.yaml for the camera what is T_BS?

T_BS:
cols: 4
rows: 4
data: [ 0.0356961, 0.0821689, 0.99597895, -0.01150323,
-0.99798199, -0.04943879, 0.03984663, -0.01248458,
0.05251415, -0.99539142, 0.08023831, 0.01387081,
0., 0., 0., 1. ]

[maym86]

Looks like it's the same?

[aforster]

Not sure where you got this sensor.yaml from but in okvis you can find the coordinate system definition in the readme:

Outputs and frames

In terms of coordinate frames and notation,

W denotes the OKVIS World frame (z up),
C_i denotes the i-th camera frame
S denotes the IMU sensor frame
B denotes a (user-specified) body frame.

The output of the okvis library is the pose T_WS as a position r_WS and quaternion q_WS, followed by the velocity in World frame v_W and gyro biases (b_g) as well as accelerometer biases (b_a). See the example application to get an idea on how to use the estimator and its outputs (callbacks returning states).