Merge raulmur/ORB_SLAM2's most recent version into your RT branch #78
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Make clearer that SaveTrajectoryKITTI and SaveTrajectoryTUM do not work for monocular.
SaveTrajectory functions retrieve full frame trajectory using relative rigid body transformations between each frame and its reference keyframe. This relative transform is computed when the frame was tracked. This is inaccurate in the monocular case, as each relative transformation is computed at the particular scale when each frame was tracked. A global scale change will make all relative transformations invalid, and this can happen in two cases: 1) At loop closure 2) When the map is small and all keyframes are optimized in the Local BA. In that case the scale is not fixed and can change.
BLAS and LAPACK are not needed as we are not using CHOLMOD.
BLAS and LAPACK are not needed by g2o as we are not using CHOLMOD
not needed by g2o as we do not use CHOLMOD
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.