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| author | Martin Miller | 2017-03-31 15:51:15 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-31 15:51:15 -0500 |
| commit | 3c81b70308977377d6d7d7837aa476d4d5721d70 (patch) | |
| tree | d00015fb6d74a24c9467a92f17d1187d125ab70e /src/camera.cpp | |
| parent | b93af7454f3cb654620a73f4bfb60c8c3bfcc71e (diff) | |
| download | refslam-3c81b70308977377d6d7d7837aa476d4d5721d70.zip refslam-3c81b70308977377d6d7d7837aa476d4d5721d70.tar.gz | |
Add yaw correction factor.
This is sort of a fudge to compensate for poor camera to IMU
calibration. It injects additional yaw into the Rc2b matrices.
Diffstat (limited to 'src/camera.cpp')
| -rw-r--r-- | src/camera.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/camera.cpp b/src/camera.cpp index 60d33bd..a3816ac 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -75,7 +75,11 @@ Camera::Camera (const char *fin) Matrix<double,3,3> Camera::Rc2b ( ) { - return _T.block<3,3>(0,0).transpose(); + double yaw; + yaw = M_PI*( YAWCORRECT )/180.; + Matrix<double,3,3> Ry; + Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ()); + return Ry*_T.block<3,3>(0,0).transpose(); } /* ----- end of method Camera::Rc2b ----- */ /* @@ -88,9 +92,14 @@ Camera::Rc2b ( ) Matrix<double,4,4> Camera::Rc2b4 ( ) { + double yaw; + yaw = M_PI*( YAWCORRECT )/180.; + Matrix<double,3,3> Ry; + Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ()); + Matrix<double,4,4> R; R = Matrix<double,4,4>::Identity(); - R.block<3,3>(0,0) = Rc2b(); + R.block<3,3>(0,0) = Ry*Rc2b(); return R ; } /* ----- end of method Camera::Rc2b4 ----- */ |