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Implementation of Event-Based Visual Odometry algorithm - Group project for 16-720 Computer Vision / 16-833 SLAM

License: MIT License

MATLAB 28.60% CMake 4.44% C++ 66.97%

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eventbasedvisualodometry's Issues

Is it right for the computation that converts the points from camera coordinate to world coordinate in GetNewMapPoints.m?

Hello,
I am interested about EVO, thank you for your amazing work.
But I just wonder the 38th line in GetNewMapPoints.m:
new_map_points = [points_in_camera_frame, ones(size(points_in_camera_frame,1),1)]*tform';

Because tform the the transform matrix converting the world coordinate to camera coordinate,
if we want to get the points in world coordinate, we should use the inverse of tform instead of original one?
That is:
new_map_points = [points_in_camera_frame, ones(size(points_in_camera_frame,1),1)]*inv(tform)';
Is it?

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