Closed lyeemax closed 5 years ago
https://github.com/gaoxiang12/slambook/blob/371abd2d064416bb411b1b753527c8986214c1bb/ch10/ceres_custombundle/common/BALProblem.cpp#L187 请教一下，对代码中"相机的旋转角轴取相反数乘相机的平移"感到很疑惑？该如何理解呢？谢谢各位小伙伴。
Eigen::VectorXd inverse_rotation = -angle_axis_ref; AngleAxisRotatePoint(inverse_rotation.data(), camera + camera_block_size() - 6, center); VectorRef(center,3) *= -1.0;
https://github.com/gaoxiang12/slambook/blob/371abd2d064416bb411b1b753527c8986214c1bb/ch10/ceres_custombundle/common/BALProblem.cpp#L187 请教一下，对代码中"相机的旋转角轴取相反数乘相机的平移"感到很疑惑？该如何理解呢？谢谢各位小伙伴。