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Update README.md

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Majid Geravand
2021-05-25 11:37:45 +02:00
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commit 18b999dc6d
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CPU_version/README.md
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@@ -53,10 +53,10 @@ I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide
You can edit the camera position in the launch file as (The IMU frame will rotate to align with camera frame based on the follwoing Eular angles):
CPU_version/vio_svo/launch/Px30.launch
<!-- Initial camera orientation, make it point downwards -->
<param name="init_rx" value="-2.35619" />
<param name="init_ry" value="0.00" />
<param name="init_rz" value="0.00" />
<!-- IMU 2 Camera Frame -->
<param name="init_rx" value="1.88496" /><!-- 90 + 18 -->
<param name="init_ry" value="0.0" /> <!-- 90 -->
<param name="init_rz" value="0.0" /> <!-- 0 -->
You can also edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h)