Create initial frame with gravity aligment from IMU

[BioR0bot]

It would be very convenient to create a top view map using gravity alignment.

[BioR0bot]

This feature is not difficult to implement, is it?

[ymd-stella]

It would not be difficult to implement it yourself; All you have to do is load the generated map and rotate it. I think it is beyond the scope of the Visual SLAM library's main responsibilities. I do not plan to include post-processing of the generated maps in this repository.

[ymd-stella]

It is important to note that simply aligning the first keyframe may result in other keyframes having different gravity directions due to errors. (Aligning the whole map is dealt with at #235.)

[BioR0bot]

I saw that you tried to add work with sensors? Where can I get a piece of code from you that solves this problem?

[BioR0bot]

The map is initialized as far as I know with the first frame. It has an identity rotation matrix. To rotate the entire system, you need a transformation matrix from the sensor and a transition matrix from the camera to the sensor

[BioR0bot]

It is important to note that simply aligning the first keyframe may result in other keyframes having different gravity directions due to errors. (Aligning the whole map is dealt with at #235.)

code is in wip branch?

[ymd-stella]

Yes.

[BioR0bot]

Yes.

How can I access it?

[ymd-stella]

https://github.com/ymd-stella/openvslam-community/tree/wip/gba

[BioR0bot]

https://github.com/ymd-stella/openvslam-community/tree/wip/gba

Thank You very much)