ShinoSpace

多层继承下感觉坑不少 尤其涉及虚函数时 构造和析构可以挖坑

## 📚 Documentation i noticed the formula between (2) and (3) in your original paper: log(P_bg) = log(P(bg | O_k = 1)P(O_k = 1) + P(O_k = 0)) the assumption...

some concepts that not appear at paper

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hello! thanks for your great works! when i go into source code, i found "sweep", "ida" and "bda". these maybe something we have not seen in LSS. can you kindly...

关于gimbal lock中的旋转矩阵问题讨论

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bonus gimbal lock中，旋转顺序定为x-y-z，按照坐标系旋转的图示，这里似乎是所谓的「内旋」，即第n次旋转时的旋转轴 是 第n-1次旋转后的坐标系中的某个轴。与此相对的是「外旋」，即按外部固定旋转轴旋转。就我个人对线性代数的理解，内旋的变换矩阵复合应该是右乘，即：如果按照先x后y最后z的旋转顺序，复合的变换矩阵应该是RxRyRz，与此相对的外旋变换矩阵则是RzRyRx。 不知这部分是否有些许问题，期待讨论，多谢！