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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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Camera.fovScale #8

Closed HJMGARMIN closed 9 months ago

HJMGARMIN commented 10 months ago

Hello, I notice that the param "Camera.fovScale" in TUM-VI_rectified.yaml. I run PLVS on OpenLORIS-Scene dataset. The dataset consists of stereo fisheye images, and I set Camera.fovScale as 0.5. However, the viewer looks a little strange. I want to know the role of the variable "Camera.fovScale" and what should I set it for different fisheye datasets. image The raw fisheye image is as below: image

luigifreda commented 9 months ago

Hi, as for the Camera.fovScale param, take a look here as an entry point https://github.com/luigifreda/plvs/blob/master/src/Settings.cc#L567 and refer here for further details https://docs.opencv.org/4.x/db/d58/group__calib3d__fisheye.html#gac1af58774006689056b0f2ef1db55ecc

Cheers, Luigi