Scale problem

[jiajiaandWu]

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?

[Luigi Freda]

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.