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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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about pose #922

Open liumingzs opened 3 months ago

liumingzs commented 3 months ago

I would like to ask if I use ROS2 to run pure single-purpose orbslam3. The posture of the stored trajectory is quite different from the real value. For example, the X direction in the trajectory moved by 0.1 and actually moved by 50 cm.

arjunskumar commented 3 months ago

@liumingzs what is your sensor_type?

liumingzs commented 3 months ago

@liumingzs what is your sensor_type?

My camera is a gemini2 model, which seems to have little to do with the sensor model. I also used Intel's d435i, and there will still be scale problems after calibrating the internal reference. Later, I guessed that it was a single-purpose scale problem. Later, with the use of single-purpose rgbd, the trajectory could not loop back and the effect was worse. I can barely use it now by multiplying x y z by a factor at the same time, but this is wrong