zhuyifan1993/direct_rgb-d_slam

a visual SLAM system performed on RGB-D images

direct_rgb-d_slam's Issues

requesting paper for code

Hi,

can you refer me to the research paper you used to write this code ? it will be helpful.

Thanks

a probelm in 'lukas_kanade.py'

Hi,

The coordinate expression seems wrong in Line 18,36 & 37.

In Line 18, it should be 'np.dot(KInv, np.array([y, x, 1])) ' because Column y is corresponding to horizontal coordinates instead of x.

So, in Line 36&37, it should be as follows accordingly:
interp_I = f((yImg.real.ravel(), xImg.real.ravel())).reshape(I.shape)
interp_D = g((yImg.real.ravel(), xImg.real.ravel())).reshape(D.shape)

Thanks!

Nan in h_k and b_k matrices

Hi @zhuyifan1993,

I tested the tool, it seems to work fine with the TUM dataset. However, when tested on my own, I found issues related to h_k matrix having Nan values, which raises an error in the _cholesky() function.

Can you please help me to solve this issue.

Thanks