T_cn_cnm1 相机外参变换,总是相对于链中的最后一个相机 (例如,cam1: T_cn_cnm1 = T_c1_c0,将cam0的坐标系转换到cam1的坐标系) T_cam_imu IMU的外参:从IMU到相机坐标系的变换 (T_c_i) timeshift_cam_imu 相机和IMU时间戳之间的时间偏移 (t_imu = t_cam + shift) rostopic 相机图像流的话题...
seeSupported modelsfor more information T_cn_cnm1 camera extrinsic transformation, always with respect to the last camera in the chain (e.g. cam1: T_cn_cnm1 = T_c1_c0, takes cam0 to cam1 coordinates) T_cam_imu IMU extrinsics: transformation from IMU to camera coordinates (T_c_i) t...
A 4x4 transformation matrixT_cn_cnm1is searched for. If it is found it is loaded. Otherwise it is searched for under the nameTand if found loaded. If neither are found the node continues. A 4x3 projection matrixPis searched for. If it is found it is loaded. IfPwas found butTwas not...
A 1x2 vector namedresolutionis loaded which contains the parameters (width, height). Again, if not given the node displays an error and terminates. A 4x4 transformation matrixT_cn_cnm1is searched for. If it is found it is loaded. Otherwise it is searched for under the nameTand if found...
[0.9999988155100044, -8.872821745270887e-05, -0.0015365890445076299, -0.005399411073790869] - [9.417294477489324e-05, 0.9999937167272067, 0.0035436757136407555, 2.312891663648896e-07] - [0.0015362649656701904, -0.0035438162213075547, 0.9999925406004511, -0.06686184228071292] - [0.0, 0.0, 0.0, 1.0] T_cn_cnm1: - ...