Maxime Ferrera

Hi there, You can add something like this: class G2O_TYPES_SBA_API EdgeXYZPriorSE3Expmap : public BaseUnaryEdge{ public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; EdgeXYZPriorSE3Expmap(); bool read(std::istream& is); bool write(std::ostream& os) const; void computeError() { const VertexSE3Expmap* v1...

Colmap is storing the 3D transformation that projects 3D points from the world frame (or global frame if you want) to the camera's frame for each images. Hence you have...

Yes that's what you seem to be looking for.

Colmap will try to register all the provided images into a single model. However, if at some point it cannot register any new image into it while there are remaining...

Hi @serge-m, Thanks a lot for your contribution! I will keep the PRs open so everyone can easily see it and use it if interested. I will see later for...

Hi @canglangzhige, The kfs_traj is computed from the true position of each keyframe while vo_traj is simply a vector of camera positions that contains the position estimated in real-time. Hence,...

Hi @thomasfermi and @cyc790, I had the same issue and I solved it by installing libqglviewer-dev. Hope it can work for you too. Cheers!

@DandyLorenz Make sure that Sophus is indeed getting built with EIgen >= 3.3 (see https://github.com/strasdat/Sophus/issues/187).

Your problem is due to two different OpenCV versions getting mixed when ov2slam is built. Update the CMakeLists.txt file with "find_package(OpenCV 3.2.0 REQUIRED)" instead of "find_package(OpenCV REQUIRED)".

Hi @makintuo , Could you share the parameter file that you have been using? Also, it is weird that you you get a huge slow down after some point when...