Re: RGBD SLAM and then RGB Localization

Posted by Kaifei on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-SLAM-and-then-RGB-Localization-tp489p498.html

Thanks a lot!

I'm trying to do the second option myself.

I basically follow what you suggested:
I use a DBReader to import data from a DB file to an OdometryMono Thread.
I use the odometry in the DB, so OdometryMono merely save all words and their 3D coordinates to memory_ (I suppose?).
Then I plan to change OdometryMono to only do the PnP to get an RGB image's rotation and location.
The RGB image is read from a JPG file using CameraImages.

Here is an illustration:
Phase 1: DBReader -> OdometryMono
Phase 2: CameraImages -> OdometryMono (Same thread instance in phase 1, only calculates PnP)

However, when I pass the RGB image from CameraImages thread to OdometryMono thread, I get an error message about missing fx and fy from line 119 in OdometryThread.cpp.
I'm wondering whether I can change CameraImages to let it calculate fx and fy from the image file's EXIF, as described here?
(Assuming the EXIF has all information that I need)

Thanks!!