Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

rgbdslam: How to get transform between poses?

asked 2012-05-31 22:42:04 -0500

ph4nt0m
71 ●5 ●6 ●10

updated 2014-01-28 17:12:31 -0500

ngrennan
1 ●1 ●1

Hello,

I'm trying to learn more about the general concept of rgbdslam. Let's say I found a rigid body transformation (represented by a 4x4 matrix) between two consecutive frames (more precisely, between the feature sets of these, if I understand correctly) by using RANSAC, how can I use this to calculate the transformation that represents the change in pose between these two frames?

Thanks in advance!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-06-01 04:55:39 -0500

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

updated 2012-06-03 06:11:32 -0500

It is the inverse. The features are in the respective coordinate frames of the camera positions. So a transformation that moves the features from the first camera coordinate system to the second moves the second camera pose to the pose where it was in the first frame.

Edit: Correction.

edit flag offensive delete link

Comments

But if the camera moves towards some features (so that they come nearer, their z values decrease), then the feature-transform would be one that moves every point in opposite z direction. But the position of the camera itself (seen from a global coord. sys.) would have moved forward in this example.

ph4nt0m ( 2012-06-01 08:42:55 -0500 )edit

Yes, you are right, it is vice versa.

Felix Endres ( 2012-06-03 06:09:58 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2012-05-31 22:42:04 -0500

Seen: 1,546 times

Last updated: Jun 03 '12

rgbdslam: How to get transform between poses? edit

1 Answer

Comments

Question Tools

Stats

Related questions

rgbdslam: How to get transform between poses?