WIP: ADA Hackathon 2020, ORB_SLAM3 as an ILLIXR plugin. #1
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…arget plugin.so but does not conform with ILLIXR interface.
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| cv::Mat Rwc = Tcw.rowRange(0, 3).colRange(0, 3).t(); | ||
| cv::Mat twc = -Rwc * Tcw.rowRange(0, 3).col(3); | ||
| Eigen::Vector3f position{twc.at<float>(0), twc.at<float>(1), | ||
| twc.at<float>(2)}; | ||
| Eigen::Matrix3f emat3f; | ||
| cv2eigen(Rwc, emat3f); | ||
| Eigen::Quaternionf orientation(emat3f); | ||
| _m_pose->put(new pose_type{.sensor_time = imu_cam_buffer->time, | ||
| .position = position, | ||
| .orientation = orientation}); |
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This pose convertion part is wrong.
You need to figure out how ORB_SLAM3 encode poses.
This might be helpful but I failed to understand.
raulmur/ORB_SLAM2#428
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Did not test correctness.
Need to sym-link
ILLIXR/commontoORB_SLAM3/ILLIXR_common.Current
CMakeFiles.txtcan compile a .so target plugin.so, but it does not conform with ILLIXR plugin build scripts interfaces.