I have a problem about the relpose. about hdl_localization HOT 3 OPEN

Hi @Freeskylover ,
Here, "relpose" is the transformation from cloud2 frame to cloud1 frame. So, the code is fine. If you have further questions, please open a new issue in hdl_graph_slam repository which is relevant to this topic.

from hdl_localization.

Eigen::Isometry3d relative_pose = keyframe->odom.inverse() * prev_keyframe->odom;
Eigen::MatrixXd information = inf_calclator->calc_information_matrix(prev_keyframe->cloud, keyframe->cloud, relative_pose);
but here is from cloud1 to cloud2 for the relpose.

from hdl_localization.

Hi @Freeskylover ,
It seems that code is wrong. It should be:

Eigen::MatrixXd information = inf_calclator->calc_information_matrix(keyframe->cloud, prev_keyframe->cloud, relative_pose);

I'll test and update it later. Thank you for reporting it :)

from hdl_localization.