Hierarchical-Localization icon indicating copy to clipboard operation
Hierarchical-Localization copied to clipboard

Published 20 hours ago • verified publisher icon cvg

Point triangulation fails when camera rotates

Open UriyMihailov opened this issue 1 year ago • 1 comments

Hello. I have a problem. I tried doing a reconstruction and the reconstruction seems fine in areas where the camera's orientation doesn't change. But when the camera starts to turn, then it suddenly doesn't triangulate any points. Do you have any idea why is that the case and how could it be fixed? The screenshots are of triangulation for non-rotating camera and rotating camera, respectively. The rotation is 2 degrees per image.

Screenshot from 2023-12-27 13-48-16 Screenshot from 2023-12-27 13-48-35 Screenshot from 2023-12-27 13-50-39 Screenshot from 2023-12-27 13-50-54

UriyMihailov avatar Dec 27 '23 10:12 UriyMihailov

As a result, the camera localizes really well on straight paths, but fails almost completely on turning parts of the way.

UriyMihailov avatar Dec 29 '23 07:12 UriyMihailov