Open EvanceChen opened 9 years ago
Yes, you should probably have a look at how 3D pose representations with Lie-Algebras work. a Sim3 pose contains the translation, rotation of the camera, as well as the scale of the camera.
Hi,
I have got the (x,y,z,intensity) of pointcloud from KeyFrameGraphDisplay::draw() in KeyFrameGraphDisplay.cpp. The result looks like: 0.486514 -0.521726 1.2571 171 0.495575 -0.524695 1.26373 151 0.501138 -0.526741 1.26836 141 ... But I found that the coordinate of pointcloud(x, y, z) has been proportional scaled, compared to the value in real world. For example, the coordinate of a 10_20_20(meter) room is represented only by (0.1, 0.2, 0.2).
My question is:
Thanks a lot.
I think keyframe scale coefficient could be found by: In KeyFrameGraph::addKeyFrame, add std::cout << camToWorld_estimate.scale() << std::endl. :-)
Sorry for the similar issue with #24 ,but the question is a little different. My purpose is to get the updated position of camera and all the pointcloud in order to mapping to the 2-d map. And publish it as a topic in ROS. (maybe ROSOutput3DWrapper::publishTrajectory in ROSOutput3DWrapper, but it is still not implemented ) Therefore, other node on the ROS can easily get the result of LSD-SLAM. (Just like the way slam-viewer get the result )
So i started working on the code of slam-viewer. Below is what i understand with the code,but i am not sure if i understand it correctly: i think i can get the (x,y,z,intensity) of pointcloud from KeyFrameGraphDisplay::draw() in KeyFrameGraphDisplay.cpp. And the function flushpc() in KeyFrameDisplay deal with the position of pointclouds.
However i had difficulty to understand how the cam position being processed. i think "camToWorld" in KeyFrameDisplay.cpp may be what i need. But the data structure has stopped me, especially Sim3f, which is the type of "camToWorld"
My question is
Thanks a lot. Regards,