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License: GNU General Public License v3.0
/home/kk/catkin_eplfvins/src/EPLF-VINS/linefeature_tracker/src/linefeature_tracker.cpp:811:23: error: ‘EdgeDrawing’ is not a member of ‘cv::ximgproc’
Ptrcv::ximgproc::EdgeDrawing ed = cv::ximgproc::createEdgeDrawing();
^~~~~~~~~~~
/home/kk/catkin_eplfvins/src/EPLF-VINS/linefeature_tracker/src/linefeature_tracker.cpp:811:23: error: ‘EdgeDrawing’ is not a member of ‘cv::ximgproc’
1.图像分辨率1280 720显示线特征太多,这个要如何调参,640*480我可以运行;
2.开启外参自动标定,标定结果不如原始vins,应该是没有调好参数,这个应该怎么调;
3.初始化旋转参数用到线特征了吗
4.代码中去掉了时间偏差估计吗
非常感谢
In the function Line::extendLine(), you use the following code to compute the std. of the gradient magnitude
std::for_each(sampleMagnitude.begin(), sampleMagnitude.end(), [&](const float d)
{ accum += (d - accum) * (d + accum); });
It seems strange, maybe it should be modified as follows?
std::for_each(sampleMagnitude.begin(), sampleMagnitude.end(), [&](const float d)
{ accum += pow(d - mean, 2); });
为什么对线特征边缘化是采用 ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f, loss_function,vector<double *>{para_Pose[imu_j], para_Ex_Pose[0], para_LineFeature[linefeature_index]},drop_set); drop_set = vector{2}; 而不是像点特征一样边缘化滑窗中第0帧,drop_set = {0,2}
Hi.
I did not find the line reprojection error
mentioned in the paper.
It still is the original implementation of PL-VINS (line_projection_factor.cpp)
Hi, thanks for your great work.
May I ask when will the source code be released?
Thank you for your excellent work. I have a question. Does the line feature extraction and matching in this project support fisheye images?
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