02 / Transforms
Robot Transforms
Getting every sensor and every joint to speak the same coordinate language.
- SO(3) / SE(3)
- Frame conventions
- ROS 2 TF
- Camera–LiDAR calibration
Published notes
Notes for this stop are being written — coming soon.
Questions on the roadmap
- Four ways to write a rotationThe costs of Euler angles, rotation matrices, axis–angle and quaternions.
- SE(3) and Lie algebraWhy optimize poses in the tangent space?
- The ROS 2 TF treeHow map → odom → base_link → sensor fits together.
- Extrinsic calibrationAligning a camera and a LiDAR to one world.