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cvg / limap

A toolbox for mapping and localization with line features.
BSD 3-Clause "New" or "Revised" License
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Can we use the point cloud generated from other sensors? #12

Open VongolaWu opened 1 year ago

VongolaWu commented 1 year ago

Hi. Very amazing work. May I ask a simple question? Since I'm not familiar with this field, I'm curious whether we can use the point cloud which is not generated by SfM, like the point cloud generated by using other sensors.

B1ueber2y commented 1 year ago

Hi. Thanks for the interest!

So the main idea of using point SfM to help on the lines is to exploit the additional information from its 2D-3D correspondences. Thus, if you have a point cloud from other sensors one can get this correspondence by either alignment or basic projection/unprojection, and then help with the proposal generation and optimization. This actually also resembers our "Line Reconstruction with Depth Maps" where we use the depth map to generate proposals instead.

Furthermore, the additional SfM point cloud acts as an optional source in the project. We can reconstruct reasonable lines without the point cloud (which corresponds to our line-only reconstruction with geometric refinement in the paper). Actually, in the current release, the default option is to do line-only reconstruction for simplicity, while we can add point cloud with additional options.

Thanks again!