LarryDong
In `LidarFeatureExtractor.cpp`, `detectFeaturePoint`, (and also detectFeaturePoint2/3), break point selection. The original codes are: ```cpp // break points select if(CloudFeatureFlag[i] == 100){ debugnum2++; std::vector front_norms; Eigen::Vector3d norm_front(0,0,0); Eigen::Vector3d norm_back(0,0,0); for(int k...
A newer ceres version using `ceres::Manifold` instead of `ceres::LocalParameterization`, and `EigenQuaternionManifold` for `EigenQuaternionParameterization`. Also, a confusing `get_result()` is removed, which I think won't have any effects.
Hi, in rqt_reconfigure, under the "Pixel_Filter" there are many variables from `pixel_0_row/column` to `pixel_7_row/column`. What are these variables? I could not find any useful explanation. And what is the last...
Hi, thanks for this cool tool! But I met the problem: >Traceback (most recent call last): File "evaluate_tracks.py", line 81, in error_data = compareTracks(est_tracks_data, gt_tracks_data) File "/home/larrydong/rpg_feature_tracking_analysis/big_pun/tracker_utils.py", line 100, in...
在运行时提示错误"Segmentation fault (core dumpted)" 经过一行行输出，发现问题出现在"visual_odometry.cpp"中:`bool VisualOdometry::Init()`中的`dataset_=Dataset::Ptr(new Dataset(Config::Get("dataset_dir")));` 不确定和 issue #18 是否相同。 但下面提供的解决方法能够解决： [https://blog.csdn.net/sinat_39720504/article/details/102481421](https://blog.csdn.net/sinat_39720504/article/details/102481421) 即，将`Config::SetParameterFile`函数中 `config_->file_ = cv::FileStorage(filename.c_str(), cv::FileStorage::READ);` 修改为 `static cv::FileStorage file1( filename.c_str(), cv::FileStorage::READ ); config_->file_ = file1;` c++水平不高，也搞不清楚原理。放到这里希望对其他人有所帮助。
Hi, thanks for the codes. I notice that after `time_compressing` in: ```cpp time_seq = = time_compressing(feats_down_body); ``` the size of time_seq is a litter smaller than `feats_down_body`. And the typical...
Hi Mohit Singh, Thanks for sharing the data. Although in calibration file, IMU to Cam0 is provided, but the reference frame is not clearly shown in figure. Based on the...
When showing plane marker in rviz, some marker quarterions are not normalized and has warnings. Of course, the poses of these planes in rviz are not correct due to these...
Hi, thanks for releasing the code. After carefully comparing the codes and the paper, I found: 1. `init_plane` function, calculate the plane's (n,q) and cov, when initalizating or updating the...