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Notion Confusing in msf pose update #164

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chengshy opened this issue Jun 16, 2017 · 0 comments

chengshy commented Jun 16, 2017

The notion in msf pose update is a little bit confusing for me.
Especially, C_wv here https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_updates/include/msf_updates/pose_sensor_handler/pose_measurement.h#L227-L228. Is it means the visual convention respect to the world frame? If that is the case, should we use C_wv.tranpose() instead?

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