search

rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
2.19k stars 647 forks source link

Is set the first measurement to be the anchor frame? #183

Closed wangyuanbiubiubiu closed 3 years ago

wangyuanbiubiubiu commented 3 years ago

In function "FeatureInitializer::single_triangulation", you set the last frame to be the anchor frame, why don't you set the first frame here to be the anchor frame?

goldbattle commented 3 years ago

It can be arbitrary. We chose it to save a small amount of compute since if you anchor it in the older frame (and use an anchored feature representation) the feature will need its anchored to be moved since the oldest pose is always marginalized (see the anchor feature change function).