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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Calibration and plane fitting of pose issues #342

Open lizzzcai opened 7 years ago

lizzzcai commented 7 years ago

Dear all, I am new to ORB slam, I have captured a lot of aerial images and try to input them into the orb-slam2 to generate the camera pose. If I have already distorted the images, how can I set the camera parameters, put all zeros? or it is better to input the undistorted images into the system. In addition, I need to obtain the pose of the camera [x y z rx ry rz rw] with SE3 pose transformation, then map it on the real map. It seems like the coordinate in the ORB-slam is unscalable. How can I carry out a plane fitting to scale the pose to the real map. Many thanks!

AlejandroSilvestri commented 7 years ago

@lizzzcai ,

Feed undistorted images, and set the distortion parameters to zero.

You must inform camera parameters: focal distance and principal point .

If you don't know them, since camera poses are parallel, you can try:

fx = fy = cx = image width / 2 in pixels
cy = image height / 2 in pixels

orb-slam2 uses 4x4 matrix for SE3 poses. Last column is translation, in homogeneous coordinates. First 3x3 submatrix is the rotation matrix.