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Line-SLAM

1. Introduction

空间直线的参数化表示方法、三角化重建、以及重投影误差优化。

Author：咸菜爱嗑盐（Billibilli）

视频链接： https://www.bilibili.com/video/BV1WnqqYyEzB/?vd_source=ab405eb800b446f6d678bf5b3c73f36a

2. Dependencies

We have tested the libarary in MacOS 13.6 and Ubuntu 20.04, but it should be easy to compile in other platforms. Other Prerequisites as below:

  • c++14 Compiler
  • Pangolin 0.8
  • OpenCV 4.5.0
  • Eigen 3.4.0
  • Ceres 2.2.0

3. Build & Run

cd examples

./run_plucker.sh （对应视频第一节：参数化表示方法及三角化重建）

./run_optimize.sh（对应视频第二节：重投影误差优化）

4. TODO List

  • line feature extraction & matching based on "LSD + LBD"
  • line feature extraction & matching based on "GlueStick"