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wngreene/ext_pose_example.cc

Last active February 20, 2016 21:47
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lsd_tracker external pose as initial estimate
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ext_pose_example.cc
SE3 frame_to_kf_init = se3FromSim3(curr_tracking_ref_->keyframe->pose->getCamToWorld().inverse() *
sim3FromSE3(pose, 1.0));
frame_to_kf_init.translation() *= curr_tracking_ref_->keyframe->pose->getCamToWorld().scale();
SE3 frame_to_kf_upd = tracker_->trackFrame(curr_tracking_ref_.get(),
trackingNewFrame.get(),
frame_to_kf_init);
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pose is the external, ground truth pose.

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