Open karnikram opened 3 years ago
Inside the visual SfM, the L-th frame is fixed as the world frame for all the other frames in the initial window: code
This L-th frame is chosen based on parallax with the most recent frame in the same window: code
These camera poses from the SfM are then transformed to the body (IMU) frame and fed into the VI-alignment procedure. code
But after the VI-alignment, the world frame is fixed as the zero-th IMU frame instead of the L-th: code
But the L-th frame need not be the zero-th frame. Is this a bug or am I missing something?
Inside the visual SfM, the L-th frame is fixed as the world frame for all the other frames in the initial window: code
This L-th frame is chosen based on parallax with the most recent frame in the same window: code
These camera poses from the SfM are then transformed to the body (IMU) frame and fed into the VI-alignment procedure. code
But after the VI-alignment, the world frame is fixed as the zero-th IMU frame instead of the L-th: code
But the L-th frame need not be the zero-th frame. Is this a bug or am I missing something?