about pose

[liumingzs]

I would like to ask if I use ROS2 to run pure single-purpose orbslam3. The posture of the stored trajectory is quite different from the real value. For example, the X direction in the trajectory moved by 0.1 and actually moved by 50 cm.

[arjunskumar]

@liumingzs what is your sensor_type?

[liumingzs]

@liumingzs what is your sensor_type?

My camera is a gemini2 model, which seems to have little to do with the sensor model. I also used Intel's d435i, and there will still be scale problems after calibrating the internal reference. Later, I guessed that it was a single-purpose scale problem. Later, with the use of single-purpose rgbd, the trajectory could not loop back and the effect was worse. I can barely use it now by multiplying x y z by a factor at the same time, but this is wrong