C++实现imu坐标系到相机坐标系到图像坐标系的转换

使用NumCpp库

git clone https://ghproxy.com/https://github.com/dpilger26/NumCpp.git

cd NumCpp

修改CMakeLists.txt
option(NUMCPP_NO_USE_BOOST "Don't use the boost libraries" ON) #不使用Boost库

mkdir build
cd build
cmake ..
cmake install

#include 

用C++实现imu坐标系到相机坐标系的转换

//外部参数
std::vector extrinsic_ = { 0.999667, 0.0177161, -0.0187387, 0.016848