Structure-PLP-SLAM
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PeterFWS
[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
I run your SLAM code in my ubuntu18.04,and i find it is not good about translation of ATE.You can watch my picture,it is in point and line mode. 
I am wondering why oplusImpl is not implemented in the reproj_edge_line3d class, where is the Jacobian matrix computed in the image? 
`./build/run_tum_rgbd_slam_with_line -v ./orb_vocab/orb_vocab.dbow2 -d ../datasets/TUM/rgbd_dataset_freiburg3_large_cabinet/ -c ./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml --eval-log ` or `./build/run_tum_rgbd_slam_with_line -v ./orb_vocab/orb_vocab.dbow2 -d ../datasets/TUM/rgbd_dataset_freiburg3_large_cabinet/ -c ./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml --eval-log frame_trajectory.txt ` Hello, I've tried adding both "--eval-log" and "--eval-log frame_trajectory.txt" to...
Hello, I ran this project and encountered that the pangolin only visualized the current keyframe, but the points, keyframe trajectories and line landmarks were not visualized? Any answers are greatly...
when i run euroc-MH01 data as :./run_euroc_slam -v ../Structure-PLP-SLAM/orb_vocab/orb_vocab.dbow2 -d /home/robot/dataset/MH_01/mav0 -c /home/robot/lib/PLPSlam/Structure-PLP-SLAM/example/euroc/EuRoC_mono.yaml ,then it show a error? [2023-04-03 17:15:01.146] [I] config file loaded: /home/robot/lib/PLPSlam/Structure-PLP-SLAM/example/euroc/EuRoC_mono.yaml ---------------------------------------------------------------- Structure PLP-SLAM: Copyright (C)...
I got some code syntax error，may I ask you about your test platform. Ubuntu 18.04 or Ubuntu 20.04. And if needing to satisfy with requirements for stella_vslam
Hi, Can I ask you about the technical details of line residual optimization in G2O? In the appendix of the paper, The Jacobi derivation of the line feature residuals with...
Hello author, I would like to ask about the trajectory error issue. According to the method you provided, your algorithm has been successfully replicated, but the result I ran has...
