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izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
https://github.com/izhengfan/se2lam
MIT License
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addVertexSE3PlaneMotion函数中的疑问 #40

Open Johnlan197 opened 3 years ago

Johnlan197 commented 3 years ago

addVertexSE3PlaneMotion 中的 g2o::Matrix6d J_bb_cc = AdjTR(Tbc); 觉得应该是AdjTR(Tcb)？