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JakobEngel / dso

Direct Sparse Odometry
GNU General Public License v3.0
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Using known poses in CoarseInitializer #238

Open murrdpirate opened 3 years ago

murrdpirate commented 3 years ago

I have the ability to provide accurate camera pose information, but I'd still like to use DSO's excellent point tracking and depth estimation (in addition to allowing the poses to be tweaked in bundle adjustment).

My first step is to inject the pose data into the CoarseInitializer, which I'm currently doing by setting SE3 refToNew_current (in the trackFrame function) with my data. However, this doesn't appear to change the results, even if I provide garbage transforms.

Any guidance on how I should proceed? Or any high level description of what's happening in the initialization procedure?

s3r637 commented 2 years ago

Hey @murrdpirate,

see FullSystem.cpp#L1262 & FullSystem.cpp#L432 (maybe there are other places too).

Just try to scale the translation part based on your positions.

Cheers.