how-to-docs
This doc collects some experience or methods to solve some tricky problems.
how-to-docs
Setting up Environment
Install MinkowskiEngine under Cuda 12.x
Please refer to this blog.
Coordinate Transformation
Relative Transfrom
Given a relative transform from current pose(both under the same coordinate), the new pose should be calculated as follows.
\[R_{new} = R_{rel} \cdot R_{curr}\] \[T_{new} = T_{rel} + T_{curr}\] This post is licensed under CC BY 4.0 by the author.