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calibration notebook changed

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Rooholla-Khorrambakht 2024-05-27 23:08:56 -04:00
parent 1bed642bd0
commit 8aa8de7a8c
1 changed files with 4 additions and 6 deletions
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10
examples/calibration_post_processing.ipynb
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@ -527,7 +527,7 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 45, "execution_count": 37,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
@ -735,14 +735,12 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 26, "execution_count": 35,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
"t=[-0.02557, 0, 0.04232]\n", "import numpy as np\n",
"R = Rotation.from_euler(seq='xyz', angles=[0, 0, 0])\n", "result['ext_wrt_base']['lidar_wrt_base']=np.vstack([np.hstack([R.as_matrix(), np.array(t).reshape(3,1)]), np.array([0,0,0,1])])"
"q = R.as_quat()\n",
"rr.log(\"world/base/imu_bad\", rr.Transform3D(translation=t, rotation=rr.Quaternion(xyzw=q)))"
] ]
}, },
{ {