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ArashJavan / DeepLIO

Deep Lidar Inertial Odometry
Apache License 2.0
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Function se3_to_SE3 #17

Closed leyuan-sun closed 2 years ago

leyuan-sun commented 3 years ago

R_cur = SO3.exp(w_cur).as_matrix()

Does the w_cur need to be do hat() in advance, since the rotation in se3 should be done hat() then do the exp() when we convert se3 to rotation matrix?

leyuan-sun commented 3 years ago

I check the sophus static SO3 exp(Tangent const& omega) Group exponential.

This functions takes in an element of tangent space (= rotation vector omega) and returns the corresponding element of the group SO(3).

To be more specific, this function computes expmat(hat(omega)) with expmat(.) being the matrix exponential and hat(.) being the hat() -operator of SO(3).

So, I think the SO3.exp() in liegroups library includes the hat() already.