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旋转矩阵没看明白 #94

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AlexLeave opened this issue Feb 7, 2025 · 0 comments
Open

旋转矩阵没看明白 #94

AlexLeave opened this issue Feb 7, 2025 · 0 comments

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@AlexLeave
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数据加载时候有这样一段代码R = sensor2global_rotation_past @ (inv(ego2global_rotation_curr).T @ inv(lidar2ego_rotation_curr).T)。正交矩阵逆等于转置，如果变量名称没错，那代码等效于sensor2global_rotation_past @ ego2global_rotation_curr @ lidar2ego_rotation_curr。这个R怎么会是lidar2sensor（lidar2cam）的旋转矩阵呢？
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@AlexLeave