From 6a4749b1357e9d4468fbec939018b78b59930363 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Mon, 25 Apr 2022 11:32:00 +0200
Subject: [PATCH] Add camera extrinsics rotation to match the Front-Right-Down
convention
---
yaml/demo_visual_odometry_euroc.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index 2842329..54a3536 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -34,7 +34,7 @@ config:
name: "CAMERA"
plugin: "vision"
extrinsic:
- pose: [0,0,0, 0,0,0,1]
+ pose: [0,0,0, 0.5,-0.5,0.5,-0.5]
using_raw: false
follow: "camera_euroc_mav0.yaml"
--
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