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Set IMU extrinsics to left camera optical frame

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This commit is contained in:
Borong Yuan
2023-05-25 12:19:07 +08:00
parent 5592a1ebfe
commit 52e417c313
1 changed files with 7 additions and 6 deletions
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13
corelib/src/camera/CameraDepthAI.cpp
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@@ -271,17 +271,17 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
{
// Hard-coded: x->down, y->left, z->forward
imuLocalTransform_ = Transform(
0, 0, 1, 0,
0, 1, 0, -0.0525,
-1, 0, 0, -0.0137);
0, -1, 0, 0.0525,
1, 0, 0, 0.0137,
0, 0, 1, 0);
}
else if(eeprom.boardName == "DM9098")
{
// Hard-coded: x->down, y->right, z->backward
imuLocalTransform_ = Transform(
0, 0, -1, -0.007,
0, -1, 0, -0.0754,
-1, 0, 0, -0.0026);
0, 1, 0, 0.0754,
1, 0, 0, 0.0026,
0, 0, -1, -0.007);
}
else
{
@@ -296,6 +296,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
if(imuPublished_)
{
imuLocalTransform_ = this->getLocalTransform() * imuLocalTransform_;
UINFO("IMU local transform = %s", imuLocalTransform_.prettyPrint().c_str());
imuQueue_ = device_->getOutputQueue("imu", 50, false);
}