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abhineet123 / ORB_SLAM2

Modified version of ORB SLAM for an autonomous navigation project
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Origin Error #14

Open Shubhamvithalani opened 5 years ago

Shubhamvithalani commented 5 years ago

Why is the the origin not corrected. In the .yaml file the origin is [0,0,0]. While for other maps that I generated using Map Save node the origin is shifted. Thus the vehicle is always at origin when starting.

jahaniam commented 5 years ago

Sorry for the late reply. We are not taking care of this repository much. I have seen a lot of feedbacks and people redirecting here a lot, I might start coding a new fresh mode of this in my free time. The first pose is not guaranteed to be at the origin. Initially, it is at [0,0,0] but there might be a loop closure afterwards and after loop closure, there is a global bundle adjustment which will change all the camera poses so it is not guaranteed to start at origin after loop closure. Hope it helped.