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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
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transform #104

Closed chennuo0125-HIT closed 5 years ago

chennuo0125-HIT commented 5 years ago

what is the difference between W_T_a_b and T_a_b ?

danieldugas commented 5 years ago

Hi, do you mind linking to the line of code you are referring to? thanks!

chennuo0125-HIT commented 5 years ago

@danieldugas thanks for your replying, please see: https://github.com/ethz-asl/laser_slam/blob/master/laser_slam/src/incremental_estimator.cpp#L83 https://github.com/ethz-asl/laser_slam/blob/master/laser_slam/src/incremental_estimator.cpp#L86

smauq commented 5 years ago

The transformations there are: T_w_a = World frame to frame A T_w_b = World frame to frame B w_T_a_b = How much we'd have to move the world frame for frame B to be in the correct position a_T_a_b = Therefore this is the transform from frame A to where frame B should be

chennuo0125-HIT commented 5 years ago

@smauq thanks for your answer, i get it !