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Potential Trajectory Jump changes in stereo_inertial #36

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Ryan-Red opened this issue Jun 28, 2022 · 0 comments
Open

Potential Trajectory Jump changes in stereo_inertial #36

Ryan-Red opened this issue Jun 28, 2022 · 0 comments
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detective work More research required low priority Would be nice to address but not necessary

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@Ryan-Red
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Description:

It is possible for the poses outputted by Tcw from TrackStereo have jumps/changes.

Solution:

This happens when the IMU initializes itself, make sure to multiply the outputted pose from Tcw by the rotation matrix to get the camera properly oriented.

For more info:

UZ-SLAMLab/ORB_SLAM3#392
@Ryan-Red Ryan-Red added detective work More research required low priority Would be nice to address but not necessary labels Jun 28, 2022
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@Ryan-Red