about callback function about ice-ba

[niannianmeng]

Hi, haomin,
thanks a lot for your explanation. I still have a doubt that R is represented in the camera coordinate system, right? Do we need to convert it to the imu coordinate system by m_Ru and m_Pu?

[liuhaomin]

"does it mean Rotation_KeyFrame *(x-Translation_KeyFrame)"
It's R^T (x - t)

" image coordinates for the feature point of each frame by Rotation_frame.inverse()*Xs-Translation_frame"
It's R * X + t which equals to R (X - p). The class CameraPose does not store translation but position p = -R^T * t. Please see comments in

ICE-BA/Backend/IBA/IBA_datatype.h

Line 62 in 3e2bfe7

}; // for a 3D point in world frame X, its coordinate in camera frame is obtained by R * (X - p)

[liuhaomin]

R is represented in the camera coordinate system. If you want IMU pose rather than camera pose, you have to do the conversion.

[niannianmeng]

Ok, thanks for your reply.

[wangjio]

The problem has been solved.