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加入了IMUratation

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This commit is contained in:
Luo Yufei
2026-03-22 11:55:13 +08:00
parent b8ce5c9533
commit d20bdd3673
1 changed files with 2 additions and 2 deletions
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4
armor/src/armor_finder/classifier/solver.cpp
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@@ -71,14 +71,14 @@ Solver::Solver(const std::string & config_path)
{ {
auto yaml = YAML::LoadFile(config_path); auto yaml = YAML::LoadFile(config_path);
/*
auto R_gimbal2imubody_data = yaml["R_gimbal2imubody"].as<std::vector<double>>(); auto R_gimbal2imubody_data = yaml["R_gimbal2imubody"].as<std::vector<double>>();
auto R_camera2gimbal_data = yaml["R_camera2gimbal"].as<std::vector<double>>(); auto R_camera2gimbal_data = yaml["R_camera2gimbal"].as<std::vector<double>>();
auto t_camera2gimbal_data = yaml["t_camera2gimbal"].as<std::vector<double>>(); auto t_camera2gimbal_data = yaml["t_camera2gimbal"].as<std::vector<double>>();
R_gimbal2imubody_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_gimbal2imubody_data.data()); R_gimbal2imubody_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_gimbal2imubody_data.data());
R_camera2gimbal_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_camera2gimbal_data.data()); R_camera2gimbal_ = Eigen::Matrix<double, 3, 3, Eigen::RowMajor>(R_camera2gimbal_data.data());
t_camera2gimbal_ = Eigen::Matrix<double, 3, 1>(t_camera2gimbal_data.data()); t_camera2gimbal_ = Eigen::Matrix<double, 3, 1>(t_camera2gimbal_data.data());
*/
auto camera_matrix_data = yaml["camera_matrix"].as<std::vector<double>>(); auto camera_matrix_data = yaml["camera_matrix"].as<std::vector<double>>();
auto distort_coeffs_data = yaml["distort_coeffs"].as<std::vector<double>>(); auto distort_coeffs_data = yaml["distort_coeffs"].as<std::vector<double>>();