What does T_G_C and T_G_B stand for?

ethz-asl / aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

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What does T_G_C and T_G_B stand for? #37

Closed zzxp closed 5 years ago

zzxp commented 5 years ago

hi，I want to know that what are T_G_C and T_G_B mean? For example,Maybe T_G_C means from ground to camera?

zzxp commented 5 years ago

Also,T_C_B?

hitimo commented 5 years ago

Hi @zzxp In this paper I describe the transformations in more detail. We tried to have the same nomenclature as e.g. maplab or aslam_cv2:

G: Global/World frame C: Camera frame B (identical to I): Body frame of the robot, coinciding with the IMU T_G_C: Pose of camera in global/world frame T_G_B (identical to T_G_I): Pose of body/IMU in global/world frame T_C_B (identical to T_C_I): Camera-IMU transformation obtained from Kalibr

zzxp commented 5 years ago

Thank you!