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Question about absolute pose #11

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mhayoz opened this issue Jan 31, 2022 · 0 comments
Open

Question about absolute pose #11

mhayoz opened this issue Jan 31, 2022 · 0 comments

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@mhayoz
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mhayoz commented Jan 31, 2022

I am trying to extract the trajectory (list of poses) from DefSLAM. I noticed that the function "trackMonocular" returns a relative pose. Is this pose relative to the last one, so that I can simply accumulate the poses to get the trajectory? Or is it relative to a key-frame as in ORBSLAM2?
Thank you in advance for your answer.
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@mhayoz