ORB_SLAM2 icon indicating copy to clipboard operation
ORB_SLAM2 copied to clipboard

Published 20 hours ago • verified publisher icon raulmur

about code's reference paper

Open jamestodo opened this issue 7 years ago • 1 comments

I'm learning about orb_slam2.I want to know the reference paper in ViewerAR.cc::Plane::Recompute().

After calculating 2 planes' normal vector and angle between them,why "ExpSO3(vang/sa) * ExpSO3(uprang)" is the rotation matrix between the 2 normal vectors,and I don't know meaning of the variable "rang".

Is there anyone could give me some help with some papers or blogs.

Thank you!

jamestodo avatar Feb 07 '17 04:02 jamestodo

Hi @jamestodo. I recently started working with ORB-SLAM2. I also found this particular section of code confusing. Were you able to figure it out? If yes, could you please share some references for better understanding? Also, what is the use of ExpSO3 function?

Pallav1299 avatar Jul 20 '21 09:07 Pallav1299