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Huangying-Zhan / kitti-odom-eval

KITTI Odometry Evaluation Toolbox
MIT License
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Why inverse? #2

Closed stolpa4 closed 4 years ago

stolpa4 commented 4 years ago

Hello, in your code you apply inverse to the first frame and then multiply it with the corresponding (i-th) pose matrix to obtain the pose at the frame i. Why not just multiply the i-th pose matrix with the first pose? Why do we need inverse here?

I am talking about the lines like: poses_result[cnt] = np.linalg.inv(pred_0) @ poses_result[cnt]. I thought to obtain poses we simply need to: poses_result[cnt] = poses_result[cnt] @ pred_0.

SBaokun commented 1 year ago

Hi, I have the same problem, how did you solve it? Thanks!