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关于rotation matrix中航向角计算的问题 #47

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gah07123 opened this issue Apr 22, 2023 · 2 comments
Open

关于rotation matrix中航向角计算的问题 #47

gah07123 opened this issue Apr 22, 2023 · 2 comments

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@gah07123
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你好，请问一下，为什么在argover_preprocess_v2.py文件中的compute the rotation matrix中，航向角的计算公式是
theta = -np.arctan2(pre[1], pre[0]) + np.pi / 2呢
我的理解可能不太正确，我的理解是
theta = np.arctan2(pre[1], pre[0])即可
@rjycty
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rjycty commented Apr 24, 2023

个人觉得这个角度应该只是用来进行归一化的，只要全局都使用这种转换方法，应该不会有问题

@gah07123
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@rjycty
好的，感谢

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@rjycty @gah07123