Method NormalizeScale

src/processing/Initializer.cpp:994–1045

}

float Initializer::NormalizeScale(
    std::vector<Eigen::Vector3f>& points3d,
    Eigen::Vector3f& t
) const {
    if (points3d.empty()) {
        return 1.0f;
    }
    
    // Collect depths (Z-coordinate in frame1 = forward direction)
    // For 360 camera, depth is the distance from camera center
    std::vector<float> depths;
    depths.reserve(points3d.size());
    
    for (const auto& pt : points3d) {
        // Skip invalid points (zero vector)
        if (pt.norm() < 1e-6f) continue;
        
        // For 360 camera: depth = distance from origin
        float depth = pt.norm();
        if (depth > 0.01f) {  // Valid depth
            depths.push_back(depth);
        }
    }
    
    if (depths.empty()) {
        return 1.0f;
    }
    
    // Compute median depth
    std::sort(depths.begin(), depths.end());
    float median_depth;
    size_t mid = depths.size() / 2;
    if (depths.size() % 2 == 0) {
        median_depth = (depths[mid - 1] + depths[mid]) / 2.0f;
    } else {
        median_depth = depths[mid];
    }
    
    // Scale factor to normalize median depth to 1.0 (unit scale for IMU initialization)
    const float target_median_depth = 100.0f;
    float scale_factor = target_median_depth / median_depth;
    
    // Scale all 3D points
    for (auto& pt : points3d) {
        pt *= scale_factor;
    }
    
    // Scale translation vector
    t *= scale_factor;
    
    return scale_factor;
}

void Initializer::CreateMapPoints(
    std::shared_ptr<Frame> frame1,