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alejocb / dpptam

DPPTAM: Dense Piecewise Planar Tracking and Mapping from a Monocular Sequence
GNU General Public License v3.0
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Scaled pose update #6

Open mhkabir opened 8 years ago

mhkabir commented 8 years ago

Hi,

I would like to take advantage of external pose updates, and use these over the tracking system proposed in DP-PTAM. Essentially, I would like to utilize only the mapping component, while the tracking information comes from an external (time-synchronised) source. Any help? :)

Since dp-ptam, being a monocular system cannot estimate the metric scale.

Thanks! Kabir

alejocb commented 8 years ago

Hi @mhkabir,

Yes, you can do this inside of the function 'optimize_camera' in the semidense tracking thread. You have to comment the function 'gauss_estimation' and then update the current rotation 'R' and translation 't' with the ones provided by your sensor. Current timestamp from ROS is also available inside this function.

nickhuan commented 7 years ago

Hi mhkabir,

Did you manage to do it? I'm trying to do similar things. I commented out the gauss_estimation function and replace with my own pose estimation to calculate R and t. How about other parts in 'optimize camera' like "SEND CURRENT TRACKED MAP TO THE MAPPING THREAD AS INITIAL SEED", did you keep them the same?

thanks, nick