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rpng / ov_plane

A monocular plane-aided visual-inertial odometry
GNU General Public License v3.0
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The meaning of variables in the code #3

Closed guanba666 closed 4 months ago

guanba666 commented 5 months ago

hello，What do these variables mean?

guanba666 commented 5 months ago

R_GtoI, p_IinG, R_ItoC, p_IinC, R_GtoCi, p_CiinG

ccchu0816 commented 5 months ago

R_GtoI: rotation from Global to IMU frame p_IinG: position of IMU in the Global frame R_ItoC: rotation from IMU to camera frame p_IinC: position of IMU in the camera frame R_GtoCi: rotation from global to Camera at timestamp t_i p_CiinG: position of camera in Global frame at timestamp t_i

goldbattle commented 5 months ago

Hi, the documentation on the OpenVINS website might also help you: https://docs.openvins.com/dev-coding-style.html#coding-style-naming

On Tue, Mar 19, 2024 at 9:34 AM Chuchu Chen @.***> wrote:

R_GtoI: rotation from Global to IMU frame p_IinG: position of IMU in the Global frame R_ItoC: rotation from IMU to camera frame p_IinC: position of IMU in the camera frame R_GtoCi: rotation from global to Camera at timestamp t_i p_CiinG: position of camera in Global frame at timestamp t_i

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