pdf print friendly

svo_ros/doc/camera_calibration.md

@@ -4,7 +4,7 @@ Here we introduce how to calibrate cameras using several commonly used models an
 This is the distortion model used in opencv and ROS, also known as `plumb_bob`. We can calibrate it using the tool provided by ROS:
 ```
 sudo apt-get install ros-indigo-camera-calibration
-rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.04 image:=/camera/image_raw camera:=/camera
+rosrun camera_calibration cameracalibrator.py <specify topics/calibration target>
 ```
 Make sure to adapt size for the checkerboard actually used. What you get is in the format:
 ```
@@ -52,7 +52,7 @@ label: $camera_name
 
 ```
 
-`T_B_C` is the transformation from the camera frame to the IMU frame. This is used when SVO is set to use the IMU.
+`T_B_C` is the pose of the camera frame in the IMU frame. This is used when SVO is set to use the IMU.
 
 ### Pinhole projection + Equidistant
 This is a generic distortion model that can model very different field of views ([paper](http://www.ee.oulu.fi/mvg/files/pdf/pdf_697.pdf)), therefore we can use it for pinhole as well as fisheye cameras. OpenCV (from 3.0) also [supports this model](http://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html). To calibrate a camera using a equidistant camera model, we can use [Kalibr](https://github.com/ethz-asl/kalibr). For details of Kalibr calibration, please refer to [this official manual](https://github.com/ethz-asl/kalibr/wiki/multiple-camera-calibration).

svo_ros/doc/install.md

@@ -6,7 +6,7 @@ Make sure your system meets the following requirements:
 * gcc version 4.8
 * ROS version `indigo` ([installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu)).
 
-or 
+or
 
 * Ubuntu 16.04 64 bit
 * gcc version 5.4
@@ -33,11 +33,11 @@ Copy the `svo_install_ws` to where you want to install the binaries (e.g., your
 Now we should have a folder `~/svo_install_ws` with a subfolder named `install`.
 
 Run the script within the workspace to fix some hardcoded paths:
-    
+
     cd ~
     cd svo_install_ws
     ./fix_path.sh
-    
+
 There may be some warnings with `opengv`, which can be safely ignored.
 
 #### Create an overlay workspace
@@ -57,10 +57,10 @@ Create a new catkin workspace:
 
 Now, this workspace should overlay both the ros installation and the `svo_install_ws`. Typing `catkin config`, you should see:
 
-    Extending:    [env] /home/deploy_user/svo_install_ws/install:/opt/ros/<your ros version>
-    
+    Extending:    [env] /home/<user>/svo_install_ws/install:/opt/ros/<ros version>
+
 Copy the `rpg_svo_example` folder to the `src` folder and build the `svo_install_overlay_ws`
-    
+
     cd -r <extracted folder>/rpg_svo_example ~/svo_install_overlay_ws/src
     cd ~/svo_install_overlay_ws
     catkin build
@@ -69,7 +69,7 @@ Copy the `rpg_svo_example` folder to the `src` folder and build the `svo_install
 Source the setup file of the overlay workspace:
 
     source ~/svo_install_overlay_ws/devel/setup.bash
-    
+
 Download the test bag from [here](http://rpg.ifi.uzh.ch/svo2/svo_test_short.bag). Then run the following commands:
 
     roslaunch svo_ros run_from_topic.launch cam_name:=svo_test_pinhole