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PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
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undistort the endpoints of keylines #7

Open MikCSL opened 1 year ago

MikCSL commented 1 year ago

I found that you don't undistort the endpoints of keylines. Is it not necessary to undistort the endpoints of keylines?

PeterFWS commented 1 year ago

Hi,

for that I followed some of the PL-VINS's implementation, I first undistort the image and then extract the keylines. Hence, the saved keylines should be undistorted.

code see: Structure-PLP-SLAM/src/PLPSLAM/feature/line_extractor.cc function: void LineFeatureTracker::extract_LSD_LBD()

Best,