How Can I apply it to stereo camera?

[qiaozhijian]

No description provided.

[shidahe]

Simplest idea would be just swap out the ORB-SLAM monocular SLAM and replace it with some stereo SLAM.

Furthurmore, the depth estimation can be imporved by using a stereo camera setup, which in turn can improve the quality of the reconstructed surface.

[qiaozhijian]

Thank you for your answers, but I found some small bugs in your program.
During the construction of some classes, some of their variables were not initialized, so they were assigned some random values, which caused my computer to not run this code normally, such as mpModel in Map, mbResetRequested in ProbabilityMapping

[shidahe]

Great! Thanks for finding the bugs.
Could you please post the error behaviour here? So that others can reference to this post if they face the same problem.
Also if you have fix, a PR for fixing them would be very much appreciated. :)

[qiaozhijian]

Great! Thanks for finding the bugs.
Could you please post the error behaviour here? So that others can reference to this post if they face the same problem.
Also if you have fix, a PR for fixing them would be very much appreciated. :)

The wrong behavior is a simple program break, like when you go to use an uninitialized pointer to a class. I'm sorry I can't describe it. But a PR is submitted.