small changes

[JakobEngel]

hey,
just for convenience, i made the package

• work also with rgb8 images from normal color-webcams
• compatible with make eclipse-project
• print cam calib on startup

also, i removed the Point sigma-check... that makes the init work with pretty much any scene, and i've yet to find a situation in which that check actually is necessary.
cheers, jakob

[simonlynen]

Hi Jakob,

thanks for the changes. The init check is there since we are computing a
homography. Anylway I will check the quality of the map on some datasets
and if that is ok, I am fine with disabling the check.

Simon

ETH Zürich
Simon Lynen
Autonomous Systems Lab
CLA E16.1
Tannenstrasse 3
8092 Zürich
Switzerland

Phone: +41 44 632 97 87
Fax: +41 44 632 11 81
E-Mail: [email protected]

On 04/27/2013 09:15 PM, JakobEngel wrote:

hey,
just for convenience, i made the package

• work also with rgb8 images from normal color-webcams
• compatible with make eclipse-project
• print cam calib on startup

also, i removed the Point sigma-check... that makes the init work with
pretty much any scene, and i've yet to find a situation in which that
check actually is necessary.
cheers, jakob

---

    You can merge this Pull Request by running

git pull https://github.com/JakobEngel/ethzasl_ptam master

Or view, comment on, or merge it at:

#17

    Commit Summary

• changes such that make eclipse-project works properly

• made to work with rgb8 images.

• made calibrator work on rgb data as well.

• just remove that check and init will work almost always... i dont
  think the check is really needed for anything.

• added cam parameter output (once on init)

• Merge branch 'master' of https://github.com/ethz-asl/ethzasl_ptam

• added missing header

  File Changes
  

• M ptam/Makefile
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-0 (4)

• M ptam/src/ATANCamera.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-1 (6)

• M ptam/src/CameraCalibrator.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-2 (35)

• M ptam/src/MapMaker.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-3 (10)

• M ptam/src/System.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-4 (28)

  Patch Links:
  

• https://github.com/ethz-asl/ethzasl_ptam/pull/17.patch

• https://github.com/ethz-asl/ethzasl_ptam/pull/17.diff

[stephanweiss]

Hi Jakob,

Thanks for your effort, always happy when people actively help to improve this framework.
I assume you mean the check that throws the error "Initial map rejected because of too large point variance". My vote goes for keeping this check at the moment for the following reason: If you enable auto-init then you want to have some sort of automatic verification on (re-) initializing the map while your heli is flying.
I agree that his check is very hacky and prevents init in full 3D scenes. We could put an enable/disable in the reconfigure GUI and then hopefully soon find better sanity checks.

Best
Stephan

---

From: Simon Lynen [[email protected]]
Sent: Saturday, April 27, 2013 12:27 PM
To: ethz-asl/ethzasl_ptam
Subject: Re: [ethzasl_ptam] small changes (#17)

Hi Jakob,

thanks for the changes. The init check is there since we are computing a
homography. Anylway I will check the quality of the map on some datasets
and if that is ok, I am fine with disabling the check.

Simon

ETH Zürich
Simon Lynen
Autonomous Systems Lab
CLA E16.1
Tannenstrasse 3
8092 Zürich
Switzerland

Phone: +41 44 632 97 87
Fax: +41 44 632 11 81
E-Mail: [email protected]

On 04/27/2013 09:15 PM, JakobEngel wrote:

hey,
just for convenience, i made the package

• work also with rgb8 images from normal color-webcams
• compatible with make eclipse-project
• print cam calib on startup

also, i removed the Point sigma-check... that makes the init work with
pretty much any scene, and i've yet to find a situation in which that
check actually is necessary.
cheers, jakob

---

You can merge this Pull Request by running

git pull https://github.com/JakobEngel/ethzasl_ptam master

Or view, comment on, or merge it at:

#17

Commit Summary

• changes such that make eclipse-project works properly
• made to work with rgb8 images.
• made calibrator work on rgb data as well.
• just remove that check and init will work almost always... i dont
  think the check is really needed for anything.
• added cam parameter output (once on init)
• Merge branch 'master' of https://github.com/ethz-asl/ethzasl_ptam
• added missing header

File Changes

• M ptam/Makefile
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-0 (4)
• M ptam/src/ATANCamera.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-1 (6)
• M ptam/src/CameraCalibrator.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-2 (35)
• M ptam/src/MapMaker.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-3 (10)
• M ptam/src/System.cc
  https://github.com/ethz-asl/ethzasl_ptam/pull/17/files#diff-4 (28)

Patch Links:

• https://github.com/ethz-asl/ethzasl_ptam/pull/17.patch
• https://github.com/ethz-asl/ethzasl_ptam/pull/17.diff

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Reply to this email directly or view it on GitHubhttps://github.com//pull/17#issuecomment-17121813.