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alanross / AlvaAR

World tracking for WebAR. A Javascript library for Augmented Reality to run SLAM in the browser.
GNU General Public License v3.0
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the axes, units and orientations are incoherent #24

Closed doctorpangloss closed 7 months ago

doctorpangloss commented 7 months ago

https://github.com/alanross/AlvaAR/blob/7796af500ee92001ac2a9888363ff64d7a3bee75/examples/public/assets/alva_ar_three.js#L35

The coefficients that work for me are 1 x, -1 y, 1 z; for the quaternion, it's 1 x, -1 y, 1 z, 1 * w.

I see that the camera in THREE.js faces 0,0,-1 instead of 0,0,1. This is painful, because nothing else does that.

I've observed that the position is quite wonky. It reports displacements that are like 10x larger than they are in real life. Any insights?

What is the actual, bonafide coordinate space the actual ORBSLAM-2 as you've adapted runs in?

Do you have any suggestions for changes to get the actual, normal pose, one that isn't munged for THREE.js or anything else?