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udaysankar01 / xfeatSLAM

Real-time SLAM with deep features (XFeat + ORB-SLAM3)
GNU General Public License v3.0
29 stars 4 forks source link

xfeat_match? #3

Open calmelo opened 1 week ago

calmelo commented 1 week ago

I notice that you use orbmatcher to match. However, in your xfeat project, I notice the xfeat_match. Why do you use the orbmatcher rather than xfeat_match in the project?

udaysankar01 commented 1 week ago

Hi! Although the file is named ORBMatcher, it has been modified to support both XFeat and ORB features, depending on the one selected. I didn't use the xfeat_match code directly from the XFeat project to ensure its compatibility with rest of the ORB-SLAM3 pipeline. Let me know if this needs further clarification.

calmelo commented 2 days ago

Hi! Although the file is named ORBMatcher, it has been modified to support both XFeat and ORB features, depending on the one selected. I didn't use the xfeat_match code directly from the XFeat project to ensure its compatibility with rest of the ORB-SLAM3 pipeline. Let me know if this needs further clarification.

I try to use the xfeat_match, but the system cannot track. Do you know why? Thanks!

udaysankar01 commented 1 day ago

I did try that route initially, but I kept facing issues when it comes to getting enough matches for tracking. The easiest fix I could find was to compute the descriptor distance and then scale it to ORB level.