url-kaist/uv-slam

UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping

uv-slam's Issues

hi~ what is the version of EIGEN

hi~ what is the version of EIGEN

bug [line factor]

I find that you use auto differentiation provided by ceres to realize line factor. But you don't consider the correctness of pose local Parameterization. Because in imu and projection cost function, VINS-Mono directly solves error jacobian w.r.t pose local par parameterization. However, the jacobian of auto differentiation is w.r.t pose full parameterization.

source dode

res sir,
will the source code be released.
thank you

How to compute the relative pose error (RPE) in your paper

Thanks for your great work. I have a question that how to compute the relative pose error with evo command for a specific sequence in EuRoC dataset?

roslaunch vins_estimator keeps me waiting

Hi! My friend and I are very new to ROS and are trying to follow the instruction of launching vins_estimator by
roslaunch uv_slam euroc.launch
However, the progress is stuck at the point of "waiting for img and imu..."

Do I need to install VINS-Mono to have a successful roslaunch on vins_estimator? Or what could I do to solve this issue?
Thank you!

rviz process died after turning on "history_point"

Hi! I have to say that this work is amazing and I am pretty impressed :)
However, I have two questions:

1. Following the instructions in readme of "Run on EuRoC datasets" without changing any settings, it seems that only the lines reconstructed by the current frame is shown in rviz. What should I do to enable history lines to be visible as well?
2. When I turned on the "history_point" on rviz and play the rosbag subsequently, the process crashed and the rviz died once the drone is moving. I wonder how I can fix this issue or what is the proper way to visualize the history point.
   Thank you!

How to set compiler version to C++17

Hi,

I wonder which CMakeLists.txt file I can edit to set the version as C++17 because the ceres solver I am using requires C++17 for a successful build of your repo.
Thank you very much for your help!

Euroc results not good as the paper shows

Thanks for your great work! But when I test your algorithm with default settings on Euroc datasets, the results is largely worse than the paper shows. Also when I test it on my self-collected datasets where Vins-mono runs well, I found UV-SLAM do not perform well.

Can not extract line features on TUM-VI

Thank you for opening up your work! But when I tested on the TUM-VI dataset, I found that there was no way to extract line features. I can confirm that there is no problem with the launch parameter settings. What is the reason for this?

Use ceres to automatically derive the Jacobian of the line

Hello，

Thanks for your contribution!

The Jacobian of the reprojection error of the line w.r.t. pose is be automatically derived. But in my opinion, If we use the automatic derivation of ceres, the corresponding
line reprojection Jacobian matrix with respect to the pose is obtained in terms of imu pose should be the global parameters space(4+3, quaternion + trans). In other words, the global parameter dimension of the quaternion should be 4, while the actual optimization space should be 3. Therefore, if the quaternion is automatically derived, then in the pose_local_parameterzation.cpp, the jacobian w.r.t. quaternion in terms of theta should not be the identity matrix.

bool PoseLocalParameterization::ComputeJacobian(const double *x, double *jacobian) const
{
    Eigen::Map<Eigen::Matrix<double, 7, 6, Eigen::RowMajor>> j(jacobian);
    j.topRows<6>().setIdentity();
    j.bottomRows<1>().setZero();

    return true;
}

Best wishes.

.

What should I modify to save the trajectory file obtained from the EuRoC dataset？