Closed Junda24 closed 1 year ago
Thank you very much for your excellent work!
I converted the pose in the form of quaternion +translation obtained by frontend in droid slam into a rotation matrix in the following ways, but there were problems with the pose always obtained.
def generate_pose(pose): q = pose[3:].cpu() R = SO3.InitFromVec(q) T_Rotation = R.matrix() translation = pose[:3].cpu() translation[:2] = translation[:2] T_Rotation[:3, 3] = translation return T_Rotation
Is there something wrong with my implementation?
Thank you very much for your excellent work!
I converted the pose in the form of quaternion +translation obtained by frontend in droid slam into a rotation matrix in the following ways, but there were problems with the pose always obtained.
def generate_pose(pose): q = pose[3:].cpu() R = SO3.InitFromVec(q) T_Rotation = R.matrix() translation = pose[:3].cpu() translation[:2] = translation[:2] T_Rotation[:3, 3] = translation return T_Rotation
Is there something wrong with my implementation?