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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Fisheye Compatibility #125

Open Jose1986 opened 8 years ago

Jose1986 commented 8 years ago

First of all thank you for sharing your valuable research work as an open source project. Have you thought about updating the code to process fisheye lens (fisheye frames) ? Or is there any part of the code which needs to be considered for this change? Thank you

AlejandroSilvestri commented 7 years ago

I actually using fisheye. Don't remember why I couldn't get cv::fisheye::unidistortPoints working, so I wrote it myself:

https://github.com/AlejandroSilvestri/os1/blob/master/src/Frame.cc#L448

Look for Frame::antidistorsionarProyeccionEquidistante .