search

yanmin-wu / EAO-SLAM

[IROS 2020] EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
Other
377 stars 43 forks source link

I would like to ask you the details of using Cubeslam #22

Open wangni-bupt opened 2 years ago

wangni-bupt commented 2 years ago

In the code implementation, I found that the projection from 2D to 3D is assumed to be on the ground, but how is it done for the object on the desktop? Looking forward to your reply

''' Vector4d ground_plane_world(0,0,1,0); plane_hits_3d( transToWolrd,
invK,
ground_plane_sensor,
box_corners_2d_float.rightCols(4), obj_gnd_pt_world_3d); '''