Comments (4)
S
(for sensor) represents the IMU frame in okvis. So T_SC = T_IC
from okvis.
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. ]
from okvis.
Looks like it's the same?
from okvis.
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).
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