search

gaoxiang12 / slambook-en

The English version of 14 lectures on visual SLAM.
GNU General Public License v3.0
1.41k stars 255 forks source link

rigidBody.tex - 3.6.2 Coordinate Transformation Example - equation error #13

Closed melhashash closed 4 years ago

melhashash commented 4 years ago

... The answer to the program is [-0:0309731; 0:73499; 0:296108]T, and the calculation process is very simple, just by calculating $$ \mathbf{p}_{R_2} = \mathbf{T}_{ R_2, W} \mathbf{T}_{W, R_1} \mathbf{p}_{R_1}. $$ should be: $$ \mathbf{p}_{R_2} = \mathbf{T}_{ R_2, W} \mathbf{T}_{W, R_1}^{-1} \mathbf{p}_{R_1}. $$ (inverse operator is missing)

gaoxiang12 commented 4 years ago

Hi @Napester , Please note that by $$ \mathbf{T}_{ R2, W} \mathbf{T}{W, R1} \mathbf{p}{R1} $$ we first convert p{R_1} from R_1 to the World, then from the World to R_2. The equation should be read from right to left, so it is right.

melhashash commented 4 years ago

Thanks for clarification, I misread it.