slam-research
logic
flowchart LR
CameraIntrKnown[相机内参已知]
LIntrKnown[左手柄内参已知]
RIntrKnown[右手柄内参已知]
LDistance(左手柄与相机距离未知)
RDistance(右手柄与相机距离未知)
subgraph LCVEstimate[估计左手柄CV得到精细特征点]
direction TB
CameraIntrForL[相机内参]
LIntrKnown
LDistance
end
subgraph RCVEstimate[估计左手柄CV得到精细特征点]
direction TB
CameraIntrForR[相机内参]
RIntrKnown
RDistance
end
CameraIntrKnown --> CameraIntrForL
CameraIntrKnown --> CameraIntrForR
subgraph ReliableFeaturesMatch[可靠的特征点匹配]
LCVEstimate
RCVEstimate
end
subgraph PNP[可靠的PNP解算]
CameraIntrKnown
ReliableFeaturesMatch
end
PNP --> LDistanceEstimate[左手柄相对相机距离估计]
PNP --> RDistanceEstimate[右手柄相对相机距离估计]
LDistanceEstimate --> LDistance
RDistanceEstimate --> RDistance
flowchart
LImuKnown[左手柄Imu历史数据已知] --> LRelPoseLocKnown[左手柄相对于起始时的位置与姿态可求]
RImuKnown[右手柄Imu历史数据已知] --> RRelPoseLocKnown[右手柄相对于起始时的位置与姿态可求]
HImuKnown[眼镜Imu历史数据已知] --> HRelPoseLocKnown[眼镜相对于起始时的位置与姿态可求]
LRelPoseLocKnown -. 彼此相对位置不可知 .- RRelPoseLocKnown
LRelPoseLocKnown -. 彼此相对位置不可知 .- HRelPoseLocKnown
RRelPoseLocKnown -. 彼此相对位置不可知 .- HRelPoseLocKnown