Description:
It is possible for the poses outputted by Tcw from TrackStereo have jumps/changes.
Solution:
This happens when the IMU initializes itself, make sure to multiply the outputted pose from Tcw by the rotation matrix to get the camera properly oriented.
For more info:
UZ-SLAMLab/ORB_SLAM3#392
Description:
It is possible for the poses outputted by Tcw from TrackStereo have jumps/changes.
Solution:
This happens when the IMU initializes itself, make sure to multiply the outputted pose from Tcw by the rotation matrix to get the camera properly oriented.
For more info:
UZ-SLAMLab/ORB_SLAM3#392