random_liu_2013

clear;clc;B = 100;%mm，两个相机之间的距离，也叫基线fs = 6;%mm，相机的物理焦距ss = 4.8 ;%mm ，ccd芯片的块wid = 2048;%pix,相机的分辨率 宽pp = ss/widdd = 0.25;%pix，视差的精度，检测的精度f = fs/(pp);minZ = 1500;%离相机最近的距离maxZ = 2500;%theta = atan((wid/2)/f);fov = 2*theta *180/piminDepth = 0.5*

function Matlab2OpenCV( variable, fileName,varName, flag)% INPUTS:% variable: name of the current matrix% fileName: name of the output yaml file% flag: w for writing a new file, a for appending to the file% OUTPUTS:% ...

function [ R, t ] = umeyama( X, Y, plotResult )%UMEYAMA Corresponding point set registration with Umeyama method.%% [R, t] = umeyama(X, Y) returns the rotation matrix R and translation% vector t that approximate Y = R * X + t using least-squares esti.

clear;clc;%rng(100);addpath(genpath(pwd));load_param;global params;dt = params.dt;[imudata,visdata] = vio_data_gen();l_imu = length(imudata);eskf.q = [1;0;0;0];eskf.bg=[0;0;0];eskf.g=[0;0;9...

clear;clc;rawdata = load('imulog_0.txt');t0 =6047*0.001*0.001;%rawdata = load('D:\\project\\cpp\\course2_hw_new\\vio_data_simulation\\build/imudata.txt');t0 = 1.0/200;N_sample = size(rawdata,1);...

%读取clear;clc;Ports = instrhwinfo('serial');lenP = length(Ports.SerialPorts);Ports.SerialPortsif(lenP<=1) fprintf('error: no serialPort found'); return;endif(lenP<3) fprintf('...