Comments (3)
TouchDeeper
commented on August 20, 2024
进行了初始化，和初始化陀螺仪bias的方式类似
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RobotYi1
commented on August 20, 2024
但是我在代码里没有找到关于轮速计的内外参的初始化相关内容，你能给我说下代码中具体位置吗。
bool VisualIMUAlignment(map<double, ImageFrame> &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x)
{
solveGyroscopeBias(all_image_frame, Bgs);
if(USE_WHEEL)
return LinearAlignmentWithWheel(all_image_frame, g, x);
else
return LinearAlignment(all_image_frame, g, x);
}
这一段是陀螺仪bias初始化的地方，没有轮速计的。
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TouchDeeper
commented on August 20, 2024
@cheyifanp 这里是直接用1初始化了
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