Nick Whitelegg

Making some progress on this. However, as soon as reconstruction with two views occurs, I get an unaligned memory access error. Emscripten can't handle unaligned memory access: is this something...

Output from log: ``` *** CreateInitialMapMonocular() orb_wasm.js:2695:8 First KF:0; Map init KF:0 orb_wasm.js:2695:8 New Map created with 55 points orb_wasm.js:2695:8 Point distribution in KeyFrame: left-> 55 --- right-> 0 orb_wasm.js:2695:8...

@Squareys thanks for your explanation... as it happened I had read up on this some months ago so was aware of the nature of misalignment, just wondering if any of...

Hi @AlejandroSilvestri thanks for your hints - the links you posted with calibration will help a great deal. Quite happy with converting C++ or Python code to JS but your...

To follow up on this, my modified orb-slam3, which builds with emscripten, is available at [https://github.com/nickw1/ORB_SLAM3/tree/binvoc](https://github.com/nickw1/ORB_SLAM3/tree/binvoc). Specifically it's the `binvoc` branch.

Bit of an update on this. Unfortunately I have hit a bit of a brick wall with tracking, have tried both the calibrator suggested above by @AlejandroSilvestri and also the...

@carlodek sounds good! Unfortunately I don't have any suggestions to speed-up re-recognition: I am not one of the authors of ORB-SLAM, it would be better to ask one of them...

Hi @carlodek thanks. Thanks for your build options, will try out those as mine were slightly different. What about your camera parameters (camera intrinsics, as defined in the .yaml files)?...

Hi @carlodek ok thanks, yes these look like mine unchanged. The crash is on a real device. The stack trace is here: https://github.com/nickw1/orb-slam3-android-expts/blob/master/crashes.txt It occurs when the `MonocularInitialization()` method is...

@carlodek ok thanks for that, you could be right about doing the whole lot in native Android.