Hi I need use orbslam to get the pose of camera.
I know I should use things like mpCurrentKeyFrame->GetPose() to get the pose. I saw the source code the "GetPose()" function will return "Tcw". What's the meaning of Tcw here?
If I extract "roll pitch yaw " and "x,y,z" from that Tcw, then the "roll pitch yaw" are the camera Euler angles and the "x,y,z" are the camera's position?
I did it like that way, I use the mpCurrentKeyFrame->GetPose() to get the first several keyframes' pose. It returns me the following things for the first keyframe
[0.99992567, 0.01199016, 0.0022002477, 0.00021382024;
-0.011967794, 0.99987924, -0.0099111488, -0.026224624;
-0.0023188184, 0.0098840808, 0.99994844, -0.0081501938;
0, 0, 0, 1]
If my understanding is right, [0.00021382024,-0.026224624,-0.0081501938] should be the [x,y,z]. What's the unit of these number? Is it "meter" or others? Then I extract roll pitch yaw from rotation matrix, using equation here What's the unit of the Euler angles?
Thanks for your answer!!
