增加外参输出

2013fangwentao · Mar 10, 2020 · f7e5291 · f7e5291
1 parent 0869bc0
commit f7e5291
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diff --git a/include/navstruct.hpp b/include/navstruct.hpp
@@ -217,6 +217,7 @@ struct NavInfo
   Eigen::Vector3d gyro_scale_{0, 0, 0};
   Eigen::Vector3d acce_scale_{0, 0, 0};
   Eigen::Vector3d leverarm_{0, 0, 0};
+  Eigen::Vector3d cam_imu_{0, 0, 0};
   long long int result_type_;
 
 public:

diff --git a/src/navbase.cc b/src/navbase.cc
@@ -57,6 +57,7 @@ std::ostream &operator<<(std::ostream &output, const NavInfo &nav_info)
     output << std::fixed << std::left << std::setprecision(4) << nav_info.pos_.transpose() << "   ";
     output << std::fixed << std::left << std::setw(10) << std::setprecision(4) << nav_info.vel_.transpose() << "   ";
     output << std::fixed << std::left << std::setw(10) << std::setprecision(4) << nav_info.att_.transpose() * constant::rad2deg << "   ";
+    output << std::fixed << std::left << std::setw(10) << std::setprecision(4) << nav_info.cam_imu_.transpose() * constant::rad2deg << "   ";
     // output <<std::fixed << std::left << std::setprecision(3) << nav_info.pos_std_.transpose() << "   ";
     // output <<std::fixed << std::left << std::setprecision(3) << nav_info.vel_std_.transpose() << "   ";
     // output <<std::fixed << std::left << std::setprecision(3) << nav_info.att_std_.transpose() << "   ";