Position calculation problem about rpg_svo_example

[zhangzichao]

Yes, for monocular case you do not have the exact scale anyway. The parameter map_scale defines the median of the scene depth for initialization and the scale is carried on afterwards.

What you can do is to initialize the pipeline by pointing your camera perpendicular to a plane and moving the camera in parallel to it. Then if you know how far the plane is from the camera, say 1 meter, you can set the map_scale to 1. This should gives you a roughly correct scale.

[joshi-bharat]

I am also having a similar issue while moving clearpath husky around the corridor taking rounds (using monocular camera). However, the scale decreases when I move the robot around. Are there any specific parameters I should look at? I have attached some pictures for reference.