Open chamikasudusinghe opened 4 years ago
I was looking for a method to increase the accuracy of the extrinsic camera parameters estimated by ORB-SLAM2. As a solution, I am considering to increase the usage of Global Bundle Adjustment.
https://github.com/raulmur/ORB_SLAM2/blob/master/src/Optimizer.cc#L41
Here it mentions the number of iterations that GlobalBundleAdjustemnt can run while loop closing. Currently, the value set is 10, and is it okay to increase this value to 100 or 1000. (https://github.com/raulmur/ORB_SLAM2/blob/master/src/LoopClosing.cc#650)
If I am modifying the number of iterations, are there any other parameters that I should be concerned with?
Or is there another method to increase the accuracy of the extrinsic camera parameters estimated by ORB-SLAM2?
I was looking for a method to increase the accuracy of the extrinsic camera parameters estimated by ORB-SLAM2. As a solution, I am considering to increase the usage of Global Bundle Adjustment.
https://github.com/raulmur/ORB_SLAM2/blob/master/src/Optimizer.cc#L41
Here it mentions the number of iterations that GlobalBundleAdjustemnt can run while loop closing. Currently, the value set is 10, and is it okay to increase this value to 100 or 1000. (https://github.com/raulmur/ORB_SLAM2/blob/master/src/LoopClosing.cc#650)
If I am modifying the number of iterations, are there any other parameters that I should be concerned with?
Or is there another method to increase the accuracy of the extrinsic camera parameters estimated by ORB-SLAM2?