# evaluate stereo viorb
## terminologies
### direction cosine matrix:
% the direction matrix approach.
% The direction cosines representation the attitude of the body frame
% relative to the global frame is specified by a 3x3 rotation matrix C,
% in which each column is a unit vector alone one of the body axes
% specified in terms of the global axes.
% for more info see ch6.1, pp21 "an introduction to inertial navigation"
% from Oliver J. Woodman
### rotation matrix
% see rotation matrices and homogeneous transformation for more info.
毕业设计&课设-惯性导航系统matlab工具箱.zip
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毕业设计&课设-惯性导航系统matlab工具箱.zip （50个子文件） 
inav_sys-master 
mh01_groundtruth.csv 5.94MB bak slam2RefFrame.m 2KB eval_align_tstamp.m 7KB main.m 5KB cam1.yaml 684B ground truth.yaml 489B leica.yaml 388B imu0.yaml 695B cam0.yaml 683B VIORB_DRAW.m 10KB data mh01_ground_truth.csv 5.94MB mh03_ground_truth.csv 4.3MB v103_vicon.csv 1.68MB v103_gd_truth.csv 3.39MB InavTrajectory.csv 121KB v103_ground_truth.csv 3.39MB v203_ground_truth.csv 3.73MB
mh01.txt 333KB viorb_eval_v0.m 7KB tests ground truth timestamp - vicon timestamp2592512.ps 1.65MB euroc_vb.m 4KB test.m 1KB ceres ceres_g2o_cmp.m 694B ceres_navstates_init_opt.txt 183KB figs v20302yaxis_local.fig 51KB res1011.fig 600KB v10301zaxis_local.fig 56KB v10302xaxis_whole.fig 679KB v10301zaxis_whole.fig 658KB v10301xaxis_local.fig 51KB v10301xaxis_whole.fig 657KB v20302xaxis_whole.fig 702KB v20301xaxis_whole.fig 693KB v10301yaxis_local.fig 53KB v10301yaxis_whole.fig 663KB v20302zaxis_whole.fig 694KB v20301xaxis_local.fig 52KB v10302yaxis_local.fig 52KB v10302zaxis_whole.fig 679KB v20302xaxis_local.fig 51KB v10302zaxis_local.fig 52KB v20302zaxis_local.fig 54KB v10302yaxis_whole.fig 683KB v20302yaxis_whole.fig 706KB v10302xaxis_local.fig 52KB .gitignore 514B visensor 
vi-sensor-front.jpg 118KB vi-sensor-platform.jpg 142KB README.md 542B v103_ground_truth.csv 3.39MB资源评论
