Comments (2)
Yes, your understanding is (almost) be correct. For each individual map (before any merge happens), the coordinate system is defined by the first keyframe (KF0) of that map. If two maps merge (let's say merge(A,B)
), B
is transformed in to the coordinate frame defined by A
and adopts it. However, that also means if a merge happens as merge(second agent, first agent)
, the global coordinate system would be the one of the second agent.
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Thank you very much for your reply!
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Related Issues (20)
- Error in kitti.yaml files HOT 1
- problem about parameters configuration HOT 4
- Experimental Results HOT 3
- Camera Pose in world reference HOT 2
- How to add the number of agents to 8 or more? HOT 5
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- problem about launch file
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