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View Code? Open in Web Editor NEWmonocular visual inertial system with point and line features
License: GNU General Public License v3.0
monocular visual inertial system with point and line features
License: GNU General Public License v3.0
Vector6d line_to_pose(Vector6d line_w, Eigen::Matrix3d Rcw, Eigen::Vector3d tcw) {
Vector6d line_c;
Vector3d cp_w, dv_w;
cp_w = line_w.head(3);
dv_w = line_w.tail(3);
Vector3d cp_c = point_to_pose( Rcw, tcw, cp_w );
Vector3d dv_c = Rcw* dv_w;
line_c.head(3) = cp_c;
line_c.tail(3) = dv_c;
return line_c;
}
贺博好, 想问一下这里的 line 是用的什么形式呢? 看起来并不是 pluecker 坐标系, 因为与库中 plk_to_pose
描写的转换关系不太一样.
感谢~
贺博,您好,这个版本支持双目吗?
贺博您好,今天是在ubuntu18.04,ROS-melodic下编译的PL-VIO一直报错说cv::line_descriptor::LSDDetector::createLSDDetector(),cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor()等几个函数是未定义的引用,修改CMakeLists.txt把OpenCV那个头文件的绝对路径也加到里面还是报错(opencv版本是3.4.6),希望贺博可以给我一些帮助。
还有对之后恢复线端点3维位置不是很明白?
希望您能解答一下 感谢!!
Lc << skew_symmetric(nc), vc, -vc.transpose(), 0;
Vector4d obs = it_per_id.linefeature_per_frame[0].lineobs; // 第一次观测到这帧
Vector3d p11 = Vector3d(obs(0), obs(1), 1.0);
Vector3d p21 = Vector3d(obs(2), obs(3), 1.0);
Vector2d ln = ( p11.cross(p21) ).head(2); // 直线的垂直方向
ln = ln / ln.norm();
Vector3d p12 = Vector3d(p11(0) + ln(0), p11(1) + ln(1), 1.0); // 直线垂直方向上移动一个单位
Vector3d p22 = Vector3d(p21(0) + ln(0), p21(1) + ln(1), 1.0);
Vector3d cam = Vector3d( 0, 0, 0 );
Vector4d pi1 = pi_from_ppp(cam, p11, p12);
Vector4d pi2 = pi_from_ppp(cam, p21, p22);
Vector4d e1 = Lc * pi1;
Vector4d e2 = Lc * pi2;
e1 = e1/e1(3);
e2 = e2/e2(3);
贺博你好,在linefeature_tracker.cpp文件的169行中,lineDetector类找不到,请问是没有上传吗?
您好,贺博,我在使用鱼眼相机模型,发现线特征show窗口图像被放大了。
如题
谢谢!
Linking CXX executable /home/zhujie01/catkin_ws_pl/devel/lib/plvio_estimator/plvio_estimator
[ 95%] Built target plvio_estimator
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed
Can i run this code with my device such as zed/zed which has camer and imu?
In my opinio,i just need to replace the launch file,when i launch my device with ros,the plvio system would work。
Appreciate it to get your advice!
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}
@HeYijia
还是说假设在帧间时间极短,两帧间角度拉开不了太大呢?
但是三角化不是一般要求有比较大的移动吗?
贺博,你好!有个问题需要咨询一下,请问如何将PL-VIO 生成的3d map 转换成2d 栅格地图?目的是借助2d栅格地图来进行导航
在line_geometry.cpp中pi_from_ppp:
// d=-x3.dot((x1 - x3).cross(x2-x3)) = -x3.dot(x1.cross(x2))
这里没懂,只有当x3落在原点(0, 0, 0)和x1、x2组成的平面上时,上面的才会成立吧
想请问一下这个数据集上的结果怎么样才能不漂移呢?
看了一些论文,有些PLVIO的v102结果为×,表示跑不出来,部分的结果rmse为0.1m左右
你好贺博,请问config/vins_rviz_config.rviz在哪里?我在config文件夹中没有找到响应的文件。
cmake error at pl-vins/benchmark_publisher/cmakelists.txt:18 (find_package): by not providing "findeigen3.cmake" in cmake_module_path this project has asked cmake to find a package configuration file provided by "eigen3", but cmake did not find one. could not find a package configuration file provided by "eigen3" with any of the following names: eigen3config.cmake eigen3-config.cmake
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