zhchyang2004
zhchyang2004
When I use pcl_pointcloud function to calculate normal vectors, it gives out normal vectors starting from (0,0,0) and each length is 1. For sure, normal vectors can start at any...
@agnivsen Hello, although it has been one year later, I am still eager to get the answer.
谢谢! 我觉得书中应该把这句话加进去'因为满足theta12, theta13, theta23的向量有无数组。'. 很多时候, 这些潜在信息, 对于读者理解内容很有帮助.
感谢回复! 720行的T_pnp 是用pnp得到的平移量(即相机之间的位置关系,和imu或body无关), 所以这里的注释还应该是't_w_c'(即和718行的注释一致)吧? 这要比写成't_w_i'好吧?
L4-L7只是一个书写形式, 作为误差传播的预测方程. Joan Sol`a在文献Quaternion kinematics for the error-state Kalman filter 中的原文是: You should of course skip line (267) in your code. I recommend that you write it, though, but that...