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如何固定ORB-SLAM2世界坐标系？ #5

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Harry-675 opened this issue Nov 14, 2018 · 1 comment

Harry-675 commented Nov 14, 2018

你好，ORB-SLAM每次初始化的时候世界坐标系位置都是不确定的，那么在应用到增强现实中的时候同一个虚拟物体的渲染位置就会一直变化，请问您是怎么解决这个问题的？

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muziyongshixin commented Dec 30, 2018

理论上从原生的ORB-SLAM2的系统设计来看是无法达到这样的效果的，可能需要你修改ORB-SLAM2的底层初始化代码给定一个初始世界坐标。

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