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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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Inverted tracking #840

Open collinabidi opened 4 years ago

collinabidi commented 4 years ago

When I use the rgbd_tum example to run ORB_SLAM2 on my own dataset, I noticed that the translation is reversed.

In my video, I'm moving right across a scene without changing the rotation of the camera, but ORB_SLAM thinks it should be moving left. Has anyone else run into this problem?

AlejandroSilvestri commented 4 years ago

@collinabidi

I'm guessing here, but first of all turn around your map viewer. ORB-SLAM2 doesn't know where is up and where is down.

If this is the case, it can be related to the initialization step. Bad initialization, often due to bad camera calibration, among other causes.