From f7e52915dce00f97589aa3d9967de172403ccedf Mon Sep 17 00:00:00 2001 From: fwt <1280269817@qq.com> Date: Tue, 10 Mar 2020 16:39:10 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=A4=96=E5=8F=82=E8=BE=93?= =?UTF-8?q?=E5=87=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- include/navstruct.hpp | 1 + src/navbase.cc | 1 + 2 files changed, 2 insertions(+) diff --git a/include/navstruct.hpp b/include/navstruct.hpp index 5badbce..722c7ad 100644 --- 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 index d975b53..f38b3a0 100644 --- 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 <