Is it possible to make depth map like LSD in ORB

raulmur / ORB_SLAM2

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

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Is it possible to make depth map like LSD in ORB #331

Open imrasp opened 7 years ago

imrasp commented 7 years ago

I am new to SLAM and programming and I would like to use ORB-SLAM for both localization and obstacle avoidance task. Is there any possible way to get estimated depth of each keypoints on a frame. Could you please suggest me where to start.

Thank you in advance :)

AlejandroSilvestri commented 7 years ago

Orb slam only detects points, not lines nor surfaces.

mCurrentFrame has a vector of mappoints observed. You can access them to calculate their distance to camera.

anupamsobti commented 4 years ago

@imrasp Did you ever implement this? I would like to use the same.