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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!


Originally posted by ph4nt0m on ROS Answers with karma: 71 on 2012-05-31

Post score: 1

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1 Answer 1

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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.


Originally posted by Felix Endres with karma: 6468 on 2012-06-01

This answer was ACCEPTED on the original site

Post score: 4


Original comments

Comment by ph4nt0m on 2012-06-01:
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.

Comment by Felix Endres on 2012-06-03:
Yes, you are right, it is vice versa.

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