{"action":"created","issue":{"url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/190","repository_url":"https://api.github.com/repos/tum-vision/lsd_slam","labels_url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/190/labels{/name}","comments_url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/190/comments","events_url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/190/events","html_url":"https://github.com/tum-vision/lsd_slam/issues/190","id":151380580,"number":190,"title":"Calculating the absolute pose of the camera relative to the world frame","user":{"login":"ank700","id":13818948,"avatar_url":"https://avatars.githubusercontent.com/u/13818948?v=3","gravatar_id":"","url":"https://api.github.com/users/ank700","html_url":"https://github.com/ank700","followers_url":"https://api.github.com/users/ank700/followers","following_url":"https://api.github.com/users/ank700/following{/other_user}","gists_url":"https://api.github.com/users/ank700/gists{/gist_id}","starred_url":"https://api.github.com/users/ank700/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ank700/subscriptions","organizations_url":"https://api.github.com/users/ank700/orgs","repos_url":"https://api.github.com/users/ank700/repos","events_url":"https://api.github.com/users/ank700/events{/privacy}","received_events_url":"https://api.github.com/users/ank700/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":16,"created_at":"2016-04-27T13:08:28Z","updated_at":"2016-05-05T01:08:30Z","closed_at":null,"body":"Hello, \r\nIn the lsd-slam paper, it is mentioned that - \"The tracking component continuously tracks new camera images. That is, it estimates their rigid body pose ξ ∈ se(3) with respect to the current keyframe, using the pose of the previous frame as initialization.\"  \r\nConsidering this, I save the pose values of 2 consecutive keyframes (in one run of the loop) and multiply them using the tf library to get the final absolute pose of the camera relative to the world frame. Then, I multiply this transform value with the new pose value of the next keyframe and so on. But, when this result is visualized in rviz, it does not show the correct motion as I am moving the camera. I only move it sideways or forward to check. \r\n\r\nCan anyone suggest a way to correctly obtain the absolute pose values? I also saw #131 , but it does not answer my question. \r\n\r\nPlease ask me if my problem is unclear. Hoping to get a solution soon. Thanks"},"comment":{"url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/comments/217051671","html_url":"https://github.com/tum-vision/lsd_slam/issues/190#issuecomment-217051671","issue_url":"https://api.github.com/repos/tum-vision/lsd_slam/issues/190","id":217051671,"user":{"login":"johnny871227","id":18609722,"avatar_url":"https://avatars.githubusercontent.com/u/18609722?v=3","gravatar_id":"","url":"https://api.github.com/users/johnny871227","html_url":"https://github.com/johnny871227","followers_url":"https://api.github.com/users/johnny871227/followers","following_url":"https://api.github.com/users/johnny871227/following{/other_user}","gists_url":"https://api.github.com/users/johnny871227/gists{/gist_id}","starred_url":"https://api.github.com/users/johnny871227/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/johnny871227/subscriptions","organizations_url":"https://api.github.com/users/johnny871227/orgs","repos_url":"https://api.github.com/users/johnny871227/repos","events_url":"https://api.github.com/users/johnny871227/events{/privacy}","received_events_url":"https://api.github.com/users/johnny871227/received_events","type":"User","site_admin":false},"created_at":"2016-05-05T01:08:30Z","updated_at":"2016-05-05T01:08:30Z","body":"Hi, I don't know the details of your experiment but for me the first 10 keyframe poses are correct in terms of point cloud fusion. My purpose is to fuse each keyframe point cloud togather just like they did in the viewer, but I did it using my own code. Now I'm able to reproduce such point cloud fusion so the poses are good enough  for me .\r\n\r\nI guess for your problem, if your groundtruth pose values are different from lsd-slam, it's possible that the  2 trajectories are still the same but there's some kind of mapping between them. "}}