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question about transform the points into the camera frame #2

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ghost opened this issue Sep 5, 2023 · 0 comments
Open

question about transform the points into the camera frame #2

ghost opened this issue Sep 5, 2023 · 0 comments

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@ghost
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ghost commented Sep 5, 2023

Hi! I noticed you changed the frame of keyframe_point (transfrom the points into the camera frame) compared to vins-mono.
When I restore the changes, I got a problem. The match_img published by pose_graph node is wrong, the lines between corresponding feature points are chaotic and some of them extend out of the image.
I wonder the meaning of the transformation and if it is necessary.
Looking forward to you reply! Thanks!
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