Added automatic trajectory translation scaling for DROID-SLAM - #1
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TedVanderfeen wants to merge 1 commit into
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Added automatic trajectory translation scaling for DROID-SLAM#1TedVanderfeen wants to merge 1 commit into
TedVanderfeen wants to merge 1 commit into
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…compensate for the fixed 0.1m baseline distance in the original DROID-SLAM code.
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The original DROID-SLAM codebase applies a fixed, non-configurable 0.1m baseline when running in stereo mode in numerous places in the codebase:
https://github.com/princeton-vl/DROID-SLAM/blob/main/src/droid_kernels.cu
https://github.com/princeton-vl/DROID-SLAM/blob/main/droid_slam/geom/projective_ops.py
One of the results of this is that the scale of the stereo trajectories will always be incorrect to the tune of
actual_baseline/0.1.This PR applies an automatic rescaling of
actual_baseline/0.1to the translation components of DROID-SLAM trajectories in the VSLAM-LAB stereo shim rather than making modifications directly to the droidslam kernels and code directly.