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felixchenfy / Monocular-Visual-Odometry

A simple monocular visual odometry (part of vSLAM) by ORB keypoints with initialization, tracking, local map and bundle adjustment. (WARNING: Hi, I'm sorry that this project is tuned for course demo, not for real world applications !!!)
MIT License
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doubt #4

Closed lema18 closed 5 years ago

lema18 commented 5 years ago

In vo.cpp at line 302 at poseEstimationPnP function.. why do you use curr_->T_wc = transRt2T(R, t).inv(); instead of curr_->T_wc =ref_->T_w_c * transRt2T(R, t).inv(); ?

felixchenfy commented 5 years ago

@lema18 PnP uses 3D world points and their projections on the camera to compute the camera pose wrt to the world. So here R and t is the relation between world frame and camera frame.
My comment on line 262 is wrong. Sorry about that.

lema18 commented 5 years ago

thanks