Hello

[ZW-PRO]

Has anyone tested only stero, and how do you get body_T_cam0 and body_T_cam1?

[tulingcheng86]

I have same problem

[ZW-PRO]

I have same problem

you only need to satisfy cam1_T_cam0 = body_T_cam0*(body_T_cam1)^-1

[tulingcheng86]

I have same problem

you only need to satisfy cam1_T_cam0 = body_T_cam0*(body_T_cam1)^-1

THINKS!But iI just have the following parameters：

[front] leftIntrinsics = {240.000000, 0.000000, 240.000000, 0.000000, 240.000000, 240.000015, 0.000000, 0.000000, 1.000000 }
[front] rightIntrinsics = {240.000000, 0.000000, 240.000000, 0.000000, 240.000000, 240.000015, 0.000000, 0.000000, 1.000000 }
[front] rotationLeftInRight = {1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000 }
[front] translationLeftInRight = {-63.780090, 0.000000, 0.000000 }

so i just have ：
cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight]

it can't let me figure out body_T_cam0 and body_T_cam1 (｡•́︿•̀｡)

[ZW-PRO]

you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1

[tulingcheng86]

you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1

THINKS!I REALLY APPRECIATE IT.

[ZW-PRO]

you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1

THINKS!I REALLY APPRECIATE IT.

cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight]，，or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ？

[tulingcheng86]

you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1

THINKS!I REALLY APPRECIATE IT.

cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight]，，or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ？

cam0_T_cam1
Leftcamera is cam0.

[ZW-PRO]

you can set body_T_cam0 = Identity matrix，so body_T_cam1 = cam0_T_cam1

THINKS!I REALLY APPRECIATE IT.

cam1_T_cam0 = [RotationLeftInRight | translationLeftInRight]，，or cam0_T_cam1 = [RotationLeftInRight | translationLeftInRight] ？

cam0_T_cam1 Leftcamera is cam0.

OK

[ZW-PRO]

May I ask about the performance of your VINS-Fusion with a pure stereo setup？

[tulingcheng86]

May I ask about the performance of your VINS-Fusion with a pure stereo setup？

I haven't calibrated the binocular camera + IMU yet. I only have the internal parameters of my camera, and I fill in the body_to_cam as described above, and I can't achieve trajectory estimation. But I can achieve binocular trajectory estimation with XTDRONE's body_to_cam parameters, but not with IMU (severe drift). So I'm now learning the binocular + IMU calibration process.

[tulingcheng86]

just stereo

[ZW-PRO]

Can I add you a wechat？