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RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU
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Monocular camera #2

Open xbcdbc opened 5 years ago

xbcdbc commented 5 years ago

Does the VI-DSO algorithm（Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization） can work in Monocular camera？

RonaldSun commented 5 years ago

@xbcdbc Yes, that paper is a mono algorithm. To work in mono, original DSO initialization is needed with "stereo_weight" in bash file set to 0. I'll update the code to support mono later.

xbcdbc commented 5 years ago

@xbcdbc Yes, that paper is a mono algorithm. To work in mono, original DSO initialization is needed with "stereo_weight" in bash file set to 0. I'll update the code to support mono later.

Thankyou so much. Waiting your suport-mono code.