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shidahe / semidense-lines

Incremental 3D Line Segment Extraction for Surface Reconstruction from Semi-dense SLAM
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How Can I apply it to stereo camera? #15

Open qiaozhijian opened 4 years ago

shidahe commented 4 years ago

Simplest idea would be just swap out the ORB-SLAM monocular SLAM and replace it with some stereo SLAM.

Furthurmore, the depth estimation can be imporved by using a stereo camera setup, which in turn can improve the quality of the reconstructed surface.

qiaozhijian commented 4 years ago

Thank you for your answers, but I found some small bugs in your program. During the construction of some classes, some of their variables were not initialized, so they were assigned some random values, which caused my computer to not run this code normally, such as mpModel in Map, mbResetRequested in ProbabilityMapping

shidahe commented 4 years ago

Great! Thanks for finding the bugs. Could you please post the error behaviour here? So that others can reference to this post if they face the same problem. Also if you have fix, a PR for fixing them would be very much appreciated. :)

qiaozhijian commented 4 years ago

Great! Thanks for finding the bugs. Could you please post the error behaviour here? So that others can reference to this post if they face the same problem. Also if you have fix, a PR for fixing them would be very much appreciated. :)

The wrong behavior is a simple program break, like when you go to use an uninitialized pointer to a class. I'm sorry I can't describe it. But a PR is submitted.