muziyongshixin / ORB-SLAM2-based-AR-on-Android

This is a Android Augmented Reality APP based on ORB-SLAM2 and OpenGL,which can work well on both outdoor and indoor environments
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Values for the projection matrix? #9

Open lrianu opened 4 years ago

lrianu commented 4 years ago

The values used in MatrixState.set_projection_matrix() don't match fx, fy, cx, cy values from what I see in the calibration yaml. Where do they come from? I'm also curious why not use projection matrix functions already available in OpenGL, like Matrix.projectionM() and Matrix.frustrumM(). It looks like you tried but then created your own custom matrix. Did the OpenGL functions not work? Thanks, just trying to learn.