openvslam

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The epipole check is being performed [here](https://github.com/xdspacelab/openvslam/blob/develop/src/openvslam/match/robust.cc#L112) even if `reproject_to_bearing` returns false and `epiplane_in_keyfrm_2` is invalid. This can happen for, for example, perspective cameras when the [epipole is not visible](https://github.com/xdspacelab/openvslam/blob/develop/src/openvslam/camera/perspective.cc#L175-L178)....

adelpit

Hello, Thank you for providing this very nice library. I have several versions of OpenCV on my computer (3.4.10, 4.3.0, 4.5.1). I want to force the CMake to use OpenCV...

navid-mahmoudian

*** Aborted at 1613232792 (unix time) try "date -d @1613232792" if you are using GNU date ***

10

~/src/openvslam/openvslam-pangolinViewer/build$ ./run_video_slam -v ./orb_vocab/orb_vocab.dbow2 -m ./aist_living_lab_1/video.mp4 -c ./aist_living_lab_1/config.yaml --frame-skip 3 --no-sleep --map-db map.msg date -d @1613232770 [2021-02-13 18:13:11.805] [I] config file loaded: ./aist_living_lab_1/config.yaml ___ __ _____ _ _ __ __...

Jerichoxiii

How to obtain exactly config.yaml?

2

I did [monocular calibration](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration). However generated config.yaml is a little different from the examples: os.txt ``` # oST version 5.0 parameters [image] width 640 height 480 [narrow_stereo] camera matrix 1523.306037...

pedrobagatin

I'm using Raspberry Pi 4, 4gb and ubuntu 20.04 `~/openvslam/viewer$ node app.js ` init socket in one terminal, and execute video slam on another `~/openvslam/build$ ./run_video_slam -v ./orb_vocab/orb_vocab.dbow2 -m ./aist_living_lab_1/video.mp4...

ganeshpokale88

Hi, this is not an issue, I'm just wondering the meaning of the Jacobian computation, implemented in OpenVSLAM in file https://github.com/xdspacelab/openvslam/blob/master/src/openvslam/optimize/g2o/se3/perspective_pose_opt_edge.cc There are several variants and I understand why Jacobian...

IaroslavS

Hi everybody, I am trying to figure it out how to **convert**, in a **stereo** perspective setup, the estimated poses of the keyframes into the **poses of the left and...

alessandroTorresani

Hi, Thanks for ur great contribution. I ran the stereo mode with TUM VI dataset(sequence magistrale1_512_16) and default setting yaml file TUM_VI_stereo.yaml, but it failed frequently. But when I run...

oym1994

why load dbow2 file cast very long time (few minutes) on iphone xs Max?

5

loadFromBinaryFile method cast very long time, I don't know where is the problem .

taontech

is it possible to do Slam With one type of camera, and localization with another type?

12

I want to do the SLAM phase with a 360 camera (THETA v), Images equirectangular, and the localization phase, with images taken by a smartphone, is it possible?

RashidLadj