Merge pull request #15 from volcanoh/master

fix intrinsics mistake and T_cam_imu

Author: k-chaney

.gitignore

@@ -1 +1,2 @@
 euroc/*.bag
+build

CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(msckf_mono)
 
+set( CMAKE_EXPORT_COMPILE_COMMANDS ON )
+
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -msse4.2 -msse -msse2 -mavx -funroll-loops")
 SET(CMAKE_BUILD_TYPE "RelWithDebInfo")
 

euroc/MH_03_kalibr.yaml

@@ -3,10 +3,10 @@
 # 2. Add the T_imu_body at the end of the calibration file (usually set to identity).
 cam0:
   T_cam_imu:
-  - [ 0.014865542981794,   0.999557249008346,  -0.025774436697440,   0.065222909535531]
-  - [-0.999880929698575,   0.014967213324719,   0.003756188357967,  -0.020706385492719]
-  - [ 0.004140296794224,   0.025715529947966,   0.999660727177902,  -0.008054602460030]
-  - [                 0.,                 0.,                  0.,   1.000000000000000]
+  - [ 0.0148655429818, -0.999880929698,   0.00414029679422, -0.021640145497]
+  - [ 0.999557249008,   0.0149672133247,  0.025715529948,   -0.064676986768]
+  - [-0.0257744366974,  0.00375618835797, 0.999660727178,    0.009810730590]
+  - [             0.0,  0.0,              0.0,               1.000000000000]
   camera_model: pinhole
   distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
   distortion_model: radtan