Chatper 9 Question about solving Bundle Adjustment for Monocular SLAM.

[Lzshanshan]

Hello Dr. Gao,

Thanks for your amazing book. I have questions about solving Bundle Adjustment for monocular SLAM:

I think we should add a metric constraint for eliminating scale ambiguity and anchor the first pose for monocular SLAM, but I cannot find the corresponding parts in the code. Or, do we not need to anchor first pose and add a metric constraint here?

Could you please give me some ideas to understand the metric constraint and anchoring first pose for monocular SLAM?

Thanks for your time and patience.

Regards,
Zhenshan