About Odometry and Relative Pose

[tomy807]

Hi! I sorry for that I'm not good at English.

I am begginer at Lidar ICP So I am studying with Your Code. Thank You.

I curious about this code

    results['poses'].append(np.linalg.inv(result.transformation))
    results['ref_poses'].append(np.linalg.inv(ref_transform))

1. Why is inversed? I learned that pose is same as transformation.

   source = utils.load_point_cloud(pcd_files[i])
   target = utils.load_point_cloud(pcd_files[i + 1])

2. why target is not Transformed? I learned that transform target to World Coordinate and Find transformation from source to target.

Thank You For Your Code!