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"