The meaning of variables in the code

[guanba666]

hello，What do these variables mean?

[guanba666]

R_GtoI, p_IinG, R_ItoC, p_IinC, R_GtoCi, p_CiinG

[ccchu0816]

R_GtoI: rotation from Global to IMU frame
p_IinG: position of IMU in the Global frame
R_ItoC: rotation from IMU to camera frame
p_IinC: position of IMU in the camera frame
R_GtoCi: rotation from global to Camera at timestamp t_i
p_CiinG: position of camera in Global frame at timestamp t_i

[goldbattle]

Hi, the documentation on the OpenVINS website might also help you: https://docs.openvins.com/dev-coding-style.html#coding-style-naming

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On Tue, Mar 19, 2024 at 9:34 AM Chuchu Chen ***@***.***> wrote: R_GtoI: rotation from Global to IMU frame p_IinG: position of IMU in the Global frame R_ItoC: rotation from IMU to camera frame p_IinC: position of IMU in the camera frame R_GtoCi: rotation from global to Camera at timestamp t_i p_CiinG: position of camera in Global frame at timestamp t_i — Reply to this email directly, view it on GitHub <#3 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAQ6TYQ2QJD2JUGORCFMIQLYZBSLBAVCNFSM6AAAAABE5HNY5SVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAMBXGY2DENJWGM> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>