Open wdh234 opened 1 year ago
大佬好,我阅读代码发现matchPointsToMap函数里的odom全局变量是没有地方更新的。q_w_curr和t_w_curr全局变量也仅是通过odom进行更新,也就是odom本质上是没有进行更新的,请问是我理解错了吗? Eigen::Isometry3d odom_prediction = odom (last_odom.inverse() odom); last_odom = odom; odom = odom_prediction;
q_w_curr = Eigen::Quaterniond(odom.rotation()); t_w_curr = odom.translation();
if(edge_point_flag && surf_point_flag){ odom = Eigen::Isometry3d::Identity(); odom.linear() = q_w_curr.toRotationMatrix(); odom.translation() = t_w_curr; }
大佬好,我阅读代码发现matchPointsToMap函数里的odom全局变量是没有地方更新的。q_w_curr和t_w_curr全局变量也仅是通过odom进行更新,也就是odom本质上是没有进行更新的,请问是我理解错了吗? Eigen::Isometry3d odom_prediction = odom (last_odom.inverse() odom); last_odom = odom; odom = odom_prediction;
if(edge_point_flag && surf_point_flag){ odom = Eigen::Isometry3d::Identity(); odom.linear() = q_w_curr.toRotationMatrix(); odom.translation() = t_w_curr; }