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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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camera_frame_id_param_ and target_frame_id_param_: correspond to what frame exactly? #150

Open dexiangwang opened 8 months ago

dexiangwang commented 8 months ago

In the process of publishing tf information, I don't quite understand which frame the tf transformation is from to which frame. Because T_cw transformation matrix represents the transformation from the world frame to the camera frame, but if the target_frame_idparam represents the world frame, does the published tf transformation seem to be from the camera frame to the world frame? In that case, did you send it backwards?

Specifically, the main issues are the following: camera_frame_idparam = camera frame, target_frame_idparam = world frame OR camera_frame_idparam = world frame , target_frame_idparam = camera frame ??

Thanks a lot!!