search

UZ-SLAMLab / DefSLAM

DefSLAM: Tracking and Mapping of Deforming Scenes from Monocular Sequences. J.Lamarca, S. Parashar, A. Bartoli & J.M.M. Montiel
https://arxiv.org/abs/1908.08918
GNU General Public License v3.0
104 stars 33 forks source link

Question about absolute pose #11

Open mhayoz opened 2 years ago

mhayoz commented 2 years ago

I am trying to extract the trajectory (list of poses) from DefSLAM. I noticed that the function "trackMonocular" returns a relative pose. Is this pose relative to the last one, so that I can simply accumulate the poses to get the trajectory? Or is it relative to a key-frame as in ORBSLAM2? Thank you in advance for your answer.