{"action":"opened","issue":{"url":"https://api.github.com/repos/xiesc/slamKitti_noros/issues/1","repository_url":"https://api.github.com/repos/xiesc/slamKitti_noros","labels_url":"https://api.github.com/repos/xiesc/slamKitti_noros/issues/1/labels{/name}","comments_url":"https://api.github.com/repos/xiesc/slamKitti_noros/issues/1/comments","events_url":"https://api.github.com/repos/xiesc/slamKitti_noros/issues/1/events","html_url":"https://github.com/xiesc/slamKitti_noros/issues/1","id":313222938,"number":1,"title":"transformAssociateToMap","user":{"login":"rrkmiao","id":38249592,"avatar_url":"https://avatars0.githubusercontent.com/u/38249592?v=4","gravatar_id":"","url":"https://api.github.com/users/rrkmiao","html_url":"https://github.com/rrkmiao","followers_url":"https://api.github.com/users/rrkmiao/followers","following_url":"https://api.github.com/users/rrkmiao/following{/other_user}","gists_url":"https://api.github.com/users/rrkmiao/gists{/gist_id}","starred_url":"https://api.github.com/users/rrkmiao/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rrkmiao/subscriptions","organizations_url":"https://api.github.com/users/rrkmiao/orgs","repos_url":"https://api.github.com/users/rrkmiao/repos","events_url":"https://api.github.com/users/rrkmiao/events{/privacy}","received_events_url":"https://api.github.com/users/rrkmiao/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-04-11T08:31:52Z","updated_at":"2018-04-11T08:31:52Z","closed_at":null,"author_association":"NONE","body":"你好，看了你的程序，里面有中文注释，非常感谢分享。\r\n对于源码函数transformAssociateToMap()里的transformTobeMapped求解部分，三个旋转角度的计算请问您推导过没有？我个人感觉是由transformSum、transformBefMapped和transformAftMapped的旋转矩阵相乘计算得到的，但是其绕轴顺序和三个矩阵的相乘顺序一直没搞明白，推导的结果与源码不同。\r\n希望您指点一下，谢谢！"}}
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