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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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More than 3 cameras in the system ! #45

Open sooroosh opened 3 years ago

sooroosh commented 3 years ago

Hi, Can anyone suggest how to change the number of cameras in the system to 4 ? I have changed: CameraSystem.nrCams in the MultiCamSys_Calibration.yaml to 4 and added the parameters for the 4th camera. Added InteriorOrientationFisheye3.yaml for the 4th camera. put the images for the 4tch camera in cam3 directory of the dataset and changed images_and_timestamps.txt respectively. changed the following lines in the mult_col_slam_lafida.cpp : line 173 to: vstrImageFilenames.resize(4); line 188 till 200:

            string pathimg1, pathimg2, pathimg3,pathimg4;
            if (!(iss >> timestamp >> pathimg1 >> pathimg2 >> pathimg3 >> pathimg4))
                break;
            vTimestamps.push_back(timestamp);
            vstrImageFilenames[0].push_back(path2imgs + '/' + pathimg1);
            vstrImageFilenames[1].push_back(path2imgs + '/' + pathimg2);
            vstrImageFilenames[2].push_back(path2imgs + '/' + pathimg3);
            vstrImageFilenames[3].push_back(path2imgs + '/' + pathimg4);
        }
        ++cnt;

    }
}

However, when I run the program I get a segmentation fault error. what am I missing here ?