Open chengshy opened 7 years ago
The notion in msf pose update is a little bit confusing for me. Especially, C_wv here https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_updates/include/msf_updates/pose_sensor_handler/pose_measurement.h#L227-L228. Is it means the visual convention respect to the world frame? If that is the case, should we use C_wv.tranpose() instead?
The notion in msf pose update is a little bit confusing for me. Especially, C_wv here https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_updates/include/msf_updates/pose_sensor_handler/pose_measurement.h#L227-L228. Is it means the visual convention respect to the world frame? If that is the case, should we use C_wv.tranpose() instead?