lsyads / fisheye-orb-slam Goto Github PK

Hi , I found that there are two functions in Sim3Solver, FromCameraToImage() and Project()
In these two functions, mfbeta is used in this functions,like:
const float x = xc / (mfAlpha*imd + (1-mfAlpha)*zc); const float y = yc / (mfbeta*imd + (1-mfAlpha)*zc);
I thought it should be mfAlpha here. So is this a mistake or intentional?

Hi, thanks for your project and i already got it running on my computer very well. and I add some code based on the idea of multicol fisheye slam and now running on stereo state to fix the scale problem of mono. As i tried, the stereo works well in the room but failed if i go to another room and back again. By "fail", i mean the go and back path can not overlapped together even after global BA. and also the global BA is quiet slow ,sometimes it causes 10 mins.

Have you tried about the stereo one and do you have any idea or suggestion about my problem?
I attached my running result here to help the understanding of my problem.
Indoor result（one room）:

two room：

Can you push the missing cmake module file please? Currently I can't build the package.

Thank you.

Hello,
whenever I try to run the example
!./Examples/Monocular/mono_tum Vocabulary/ORBvoc.bin Examples/Monocular/fisheye_eucm_cam0.yaml path
the CMD just keep loading and nothing happen, even If I enter false path same thing goes on.

Can you update the README file to better explain how the training is turned on in the article and the specific training steps?