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yanyan-li / PlanarSLAM

A RGB-D SLAM system for structural scenes, which makes use of point-line-plane features and the Manhattan World assumption.
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Removing hardcoded shape and depth map factor parameters from PlaneExtractor.h file #11

Closed vnmsklnk closed 2 years ago

vnmsklnk commented 2 years ago

Now parameters such as image size and depth map factor are hardcoded in the PlaneExtractor.h file. This causes an error when trying to run program with images that do not match these parameters.

This PR contains the necessary fixes for reading shape and depth map factor from the config file.

It is important to mention that in PlaneExtractor.cpp:45 the division sign was replaced with the multiplication sign, since the inverse element is taken from config file.