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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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Changing Pose while creating Initial Map #63

Open sneuma12 opened 9 years ago

sneuma12 commented 9 years ago

Hi Raul, I'm trying to transform the first and the second Keyframe. I'm doing this give the whole map a special scale and orientation. Therefore I create a 4x4 Matrix transformMap and set this pose as mInitialFrame.mTcw in CreateInitialMap() . The mCurrentFrame.mTcw Matrix is then left-multiplied with this 4x4 Matrix. Is there a reasonable cause why the tracking gets directly lost after initial map creating (implied that I have no bugs in my edits)?

BR, Sergej

sneuma12 commented 9 years ago

I think I also have to transform the calculated Map Point World Positions, so that that the two transformed keyframes fit to the mappoints. This makes sense, right? Are there other things I also have to change ?