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VIS4ROB-lab / ccm_slam

CCM-SLAM: Robust and Efficient Centralized Collaborative Monocular SLAM for Robotic Teams
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How to add the number of agents to 8 or more? #50

Closed fengshiyu58 closed 8 months ago

fengshiyu58 commented 2 years ago

I would like to add the number of agents to 8 to compare CCM-SLAM with our methods, but I found it was difficult to do this. Is there a close source edition CCM-SLAM that support 8 or more Agent? By the way, I noticed your latest work on COVINS, but it need IMU information and I need a monocular algorithm. Looking forward your reply, Thanks!

patriksc commented 2 years ago

Hi, there is unfortunately currently no version of CCM-SLAM implemented that supports to use more than 4 agents. However, the choice of max. 4 agents is only an implementation choice, CCM-SLAM can technically support also more agents, and it should be quite easy to extend the code to do this. You would have to adjust the launch files (agent / server / static transforms) to support more agetns, and add the infrastructure for agents 5-8 in ServerSystem.

fengshiyu58 commented 2 years ago

Thanks a lot for your patient reply, I will try to do this.

pengllbit commented 2 years ago

Have you solved this problem now.

Thanks a lot for your patient reply, I will try to do this.

Have you solved this problem now. I want run ccmslam with 5 agents.

pengllbit commented 2 years ago

can you share the source code for me to learn?

patriksc commented 8 months ago

Closing - inactive