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luigifreda / plvs

PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.
GNU General Public License v3.0
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Point-Line mode using fisheye camera #14

Closed HJMGARMIN closed 9 months ago

HJMGARMIN commented 9 months ago

Hello, I found that when using fisheye cameras(like TUM-VI dataset), the line features only works by setting "Camera.needRectification: 1 # only with KannalaBrandt8 Camera.fovScale: 0.65 # only with KannalaBrandt8". I want to know if I can use line features directly in fisheye camera like below figure: image

luigifreda commented 9 months ago

Hi, thanks for your feedback. Yes, that's correct. When using fisheye cameras (for instance, TUM-VI dataset), the line features are only supported by setting 

"Camera.needRectification: 1 # only with KannalaBrandt8
Camera.fovScale: 0.5 # only with KannalaBrandt8"

At present, the extraction of line features directly on fisheye cameras is NOT supported. This is on the TODO list. Thanks for sharing the paper.

luigifreda commented 7 months ago

Hi, I've just pushed a first version of line detection, tracking, and visualization (AR by using a shader) for fisheye cameras: Now, you are not compelled anymore to force stereo rectification with fisheye cameras. On the other hand, this limitation remains for volumetric mapping.

HJMGARMIN commented 6 months ago

Thanks for your great work! However, when I try the fisheye version on TUM-VI dataset, I met the following problems. Can you help me? I can not find the "raw_kb_features.vert" file in the Shader folder. image

luigifreda commented 6 months ago

Thanks! It should be fixed now. Let me know.