ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Thu, 12 May 2016 03:54:42 -0500how to get the ground truth map from ORB_SLAMhttps://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/ Hi,
I want to get the map scale form the map which is build by ORB_slam2. Example, there are two camera center kp1(x1-coordinate,y2-coordinate) , kp2(x2-coordinate,y2-coordinate), then i will know the distance between kp1 and kp2( in coordinate). But what's the real distance(m)(in the real word)? i think i need to get the scale between coordinate and meter. But i don't know where is the map scale in the ORB_slam2 code(now I am a rookie ...). Could you tell me how to get the real map?? thank you very much!! Mon, 09 May 2016 02:51:20 -0500https://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/Answer by bart for <p>Hi,</p>
<p>I want to get the map scale form the map which is build by ORB_slam2. Example, there are two camera center kp1(x1-coordinate,y2-coordinate) , kp2(x2-coordinate,y2-coordinate), then i will know the distance between kp1 and kp2( in coordinate). But what's the real distance(m)(in the real word)? i think i need to get the scale between coordinate and meter. But i don't know where is the map scale in the ORB_slam2 code(now I am a rookie ...). Could you tell me how to get the real map?? thank you very much!! </p>
https://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/?answer=233944#post-id-233944Are you using Monocular, RGBD or Stereo algorithm?
ORBslam2 comes with the three approaches implemented. From a theoretical point of view, if you are using monocular approach, the map that you will obtain is not metric.Mon, 09 May 2016 07:22:02 -0500https://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/?answer=233944#post-id-233944Comment by xiqing for <p>Are you using Monocular, RGBD or Stereo algorithm?
ORBslam2 comes with the three approaches implemented. From a theoretical point of view, if you are using monocular approach, the map that you will obtain is not metric.</p>
https://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/?comment=234201#post-id-234201Is that mean that i couldn't get the distance(m) if using monocular approach? What about the stereo algorithm??Thu, 12 May 2016 03:54:42 -0500https://answers.ros.org/question/233916/how-to-get-the-ground-truth-map-from-orb_slam/?comment=234201#post-id-234201