what do tr and p0 mean in the TransformMaintenance.cpp

claydergc / loam_velodyne_kitti_ros

LOAM algorithm to use with the KITTI Dataset

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what do tr and p0 mean in the TransformMaintenance.cpp #11

Open PigletPh opened 3 years ago

PigletPh commented 3 years ago

hi,the work is excellent.But I have a question about Matrix tr ang P0,what do they mean and how to calculate it. And if I use the Kitti sequene 05 ,the tr and P0 will be changed?