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3DOM-FBK / COLMAP_SLAM

Visual-SLAM based on COLMAP API
MIT License
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What are the results? Got some cloud files? #3

Closed biechifanle closed 10 months ago

biechifanle commented 10 months ago

What are the results? Got some cloud files?

lcmrl commented 10 months ago

Hi, you can find the trajectories in scaled_keyframes1.txt for cam0 and in scaled_keyframes2.txt for cam1. In ./outs you can find the results in colmap format, so you can directly visualize the results importing the models there

biechifanle commented 10 months ago

Hello, can I get the position relative to the camera through your algorithm? That is, the camera's external parameter matrix. What I want to achieve is to convert the feature points, x, y coordinates recognized by the camera into relative world coordinate points based on the camera's internal and external parameter matrix.

lcmrl commented 10 months ago

Yes, in the output folder you will find a file named images.txt where you can find the quaternions, so the orientation of each keyframe respect the global reference system, and the translation vector, so the vector that points to the world reference system seen from the camera reference system

lcmrl commented 10 months ago

In cloud.txt you can also see the 2D tie points triangulated in 3D and the trajectory of the camera

biechifanle commented 10 months ago

Thank you very much for your answer, handsome man. Your answer is very helpful to me.