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urbste / MultiCol-SLAM

This repository contains a multi-fisheye camera SLAM. The underlying SLAM system is based on ORB-SLAM.
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fixed a crash, compile error and a performance fix #19

Closed Andersw88 closed 4 years ago

Andersw88 commented 7 years ago

15 fixed a crash. Some times crashes when calling resize. From what I understand the mnScaleLevels stuff is the same for all cameras and can be done after the loop, can be wrong here.

1 compile error, I had the same issue and it adding #include <unordered_map> fixed it for me.

Ran gperftools and noticed this line in particular. std::vector has to make a full copy in this case (cv::Mat wouldn't). std::vector vCell = mGrids[cam][ix][iy];

jingdongZhang commented 7 years ago

your work is excellent.But i also met a problem after copying your code.

System shutdown Requested to finish local mapper, loop closer and map publisher MakeCurrent: Not available with non-pangolin window. All threads stopped...

median tracking time: 0.0284605 mean tracking time: 0.0295164

Saving MKF trajectory to MKFTrajectory.txt ...

Saving MultiKeyframe trajectory and all MCS poses with timestamps