Scale problem
jiajiaandWu opened this issue · comments
Your Project is very useful to learn slam,but I have a question that the VO use Ground True to get the VO scale is OK?
Thanks for your feedback.
Did you have any chance to read the README file and the code?
Main Scripts:
main_vo.py combines the simplest VO ingredients without performing any image point triangulation or windowed bundle adjustment. At each step , main_vo.py estimates the current camera pose with respect to the previous one. The inter-frame pose estimation returns with. With this very basic approach, you need to use a ground truth in order to recover a correct inter-frame scale and estimate a valid trajectory by composing. This script is a first start to understand the basics of inter-frame feature tracking and camera pose estimation.
main_slam.py adds feature tracking along multiple frames, point triangulation, keyframe management and bundle adjustment in order to estimate the camera trajectory up-to-scale and build a map. It's still a VO pipeline but it shows some basic blocks which are necessary to develop a real visual SLAM pipeline.
Please, note that main_slam.py
does not use any ground truth data.