From 78254ac28899ea0774d13235beb1c80da063e093 Mon Sep 17 00:00:00 2001 From: Vladyslav Usenko Date: Mon, 15 Apr 2019 16:53:59 +0000 Subject: [PATCH] Update doc/Calibration.md --- doc/Calibration.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/doc/Calibration.md b/doc/Calibration.md index e409f4a..a82218a 100644 --- a/doc/Calibration.md +++ b/doc/Calibration.md @@ -40,7 +40,7 @@ The buttons in the GUI are located in the order which you should follow to calib You can also control the process using the following buttons: * `show_frame` slider to switch between the frames in the sequence. * `show_corners` toggles the visibility of the detected corners shown in red. -* `show_corners_rejected` toggles the visibility of rejected corners. +* `show_corners_rejected` toggles the visibility of rejected corners. Works only when `show_corners` is enabled. * `show_init_reproj` shows the initial reprojections computed by the `init_cam_poses` step. * `show_opt` shows reprojected corners with the current estimate of the intrinsics and poses. * `show_vign` toggles the visibility of the points used for vignetting estimation. The points are distributed across white areas of the pattern. @@ -76,7 +76,8 @@ You can also control the visualization using the following buttons: * `show_data` toggles the visibility of raw data containted in the dataset. * `show_accel` shows accelerometer data. * `show_gyro` shows gyroscope data. -* `show_pos` shows the position data. +* `show_pos` shows spline position for `show_spline` and positions generated from camera pose initialization transformed into IMU coordinate frame for `show_data`. +* `show_rot_error` shows the rotation error between spline and camera pose initializations transformed into IMU coordinate frame. * `show_mocap` shows the mocap marker position transformed to the IMU frame. * `show_mocap_rot_error` shows rotation between the spline and Mocap measurements. * `show_mocap_rot_vel` shows the rotation velocity computed from the Mocap.