strasdat/ScaViSLAM — Issue #17: a camera projection issue
Author: pinglin
Created: 2011-12-19 17:00:26+00:00
State: open

Hi Hauke,

In the function cameraProject(..) you use a genuine intrinsic matrix for projecting points from camera coord. to image coord directly.
I think the projection should take OpenGL's projection pipeline into account, which for the rest you probably missed is the NCC to viewport coord. transform, since you are using a dense tracking that exploits all rendered pixels.

The projection function can be found in Pangolin: ProjectionMatrixRUB_BottomLeft(...)

Perhaps this is the bug that the tracking does not work for the phantom video?
Or am I misunderstanding something here?

Pinglin