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Pipeline #2

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@kamzero kamzero commented Feb 20, 2022

FrontEnd almost done!

kamzero added 30 commits February 5, 2022 23:15
@kamzero
Move descriptors from Feature to Frame & sometimes core dump with unk…
432406b 
…nown reason
@kamzero
FIX core dump in orb
0587b08
@kamzero
FIX core dump in orb
b1dfd04
@kamzero
FIX core dump in orb
bcc41b3
@kamzero
Match Estimate Trangulation
5730799 
Match without filter/jiheyanzheng
 calculate & decompose essential matrix
 trangulate 3D points & add MapPoint
@kamzero
Decompose Match Estimate Trangulation
15deb03
@kamzero
Try to reuse MatchAndBuildMap & core dump with convertPointsFromHomo
3e41bfc
@kamzero
FIX core dump with convertPointsFromHomo
3358ec6 
Where is your brain?
@kamzero
MatchAndUpdateMap: don't estimate
27b66ad
@kamzero
MatchWith3DMap Done & TODO:solvePnP
4c6214b 
track lost after ~200 frames
@kamzero
solvePnP Done! FrontEnd almost fine
73124b4 
drift after ~40 frames
@kamzero
reduce num of mappoint
72f492b
@kamzero
Backend && out of range with map.at after receive keyframe
89a6ca1
@kamzero
Backend && out of range with map.at after receive keyframe
2adf249
@kamzero
Backend fix core dump with map out of range && still core dump for un…
e7a04fe 
…known reasons && debug with gdb
@kamzero
no core dump with ugly if-else
9ea0139
@kamzero
NO.vertex_landmark > NO.map->landmarks_ | unknown reasons
6285834
@kamzero
fix core dump while triangulation
fbb3287
@kamzero
NO.vertex_landmark > NO.map->landmarks_: UpdateMap after insert MapPoint
8504abe
@kamzero
KeyFrameType unordered_map -> map: fix many problems
7aa09d9
@kamzero
move paras from code to config
8f7ba96
@kamzero
save trajectory with TUM format
7bc57d3
@kamzero
complete viewer with pangolin
fe2599a 
excitedly find viewer helpful for debug! lol
@kamzero
change ros_topic name
133ff75
@kamzero
FrondEnd: change motion model & Viewer: visualize normal feature
0b6d20b
@kamzero
Viewer: vis match status
4b178c2
@kamzero
FrontEnd: change BfMatch3D logic - more stable after init
2d524af
@kamzero
FrontEnd: rewrite Track()
8050e65 
/
@kamzero
FrontEnd: Detect New Features while Triangulation
f01d34e 
tracking feature with LK optic flow cause failure!
@kamzero
Seem track better without using project point
cae1cbb
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@kamzero