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Commit bd59cbfb authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Update IMU orientation according to VI-sensor axes definition

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yaml/demo_visual_inertial_odometry_euroc.yaml
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...@@ -79,9 +79,9 @@ config: ...@@ -79,9 +79,9 @@ config:
type: "SubscriberImu" type: "SubscriberImu"
topic: "/imu0" topic: "/imu0"
sensor_name: "IMU" sensor_name: "IMU"
imu_x_axis: 1 imu_x_axis: 3 # See VI-sensor axes in https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#platform_and_sensors
imu_y_axis: 2 imu_y_axis: -2
imu_z_axis: 3 imu_z_axis: 1
cov_source: "sensor" cov_source: "sensor"
in_degrees: false in_degrees: false
......
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