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About Odometry and Relative Pose #5

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tomy807 opened this issue Jul 7, 2023 · 0 comments
Open

About Odometry and Relative Pose #5

tomy807 opened this issue Jul 7, 2023 · 0 comments

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@tomy807
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tomy807 commented Jul 7, 2023

Hi! I sorry for that I'm not good at English.

I am begginer at Lidar ICP So I am studying with Your Code. Thank You.

I curious about this code

    results['poses'].append(np.linalg.inv(result.transformation))
    results['ref_poses'].append(np.linalg.inv(ref_transform))

  1. Why is inversed? I learned that pose is same as transformation.

     source = utils.load_point_cloud(pcd_files[i])
 target = utils.load_point_cloud(pcd_files[i + 1])

  2. why target is not Transformed? I learned that transform target to World Coordinate and Find transformation from source to target.

Thank You For Your Code!
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@tomy807