can you elaborate one part of the code?
mrgransky opened this issue · 0 comments
mrgransky commented
Hi,
could you please explain this part of the code?
if((scale>0.1) && (t.at<double>(2) > t.at<double>(0))
&& (t.at<double>(2) > t.at<double>(1)))
{
t_f = t_f + scale*(R_f*t);
R_f = R*R_f;
}
else
{
cout << "scale below 0.1, or incorrect translation" << endl;
}
when I apply this code to my own dataset, I get unreasonable results.
Is there any theoretical logic written in any textbooks you might know about rotation and translation concatenation to build the trajectory?
Cheers,