use existing method to get T_i_b

mokezhang · May 16, 2022 · f7b5de8 · f7b5de8
1 parent 4847ff7
commit f7b5de8
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py b/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py
@@ -576,8 +576,7 @@ def getImuConfig(self):
         return self.imuConfig
 
     def updateImuConfig(self):
-        self.imuConfig.setImuPose(sm.Transformation(sm.r2quat(self.q_i_b_Dv.toRotationMatrix()), \
-                                                    self.r_b_Dv.toEuclidean()).T())
+        self.imuConfig.setImuPose(self.getTransformationFromBodyToImu())
         self.imuConfig.setTimeOffset(self.timeOffset)
 
     def __init__(self, imuConfig, parsed, isReferenceImu=True, estimateTimedelay=True):