search

DRosemei / RoMe

214 stars 26 forks source link

blurred and jagged reconstruction result when using custom data #33

Closed LevinJ closed 8 months ago

LevinJ commented 8 months ago

Applying Rome on custom data collected by ourselves, the road surface reconstruction looks abnormal. Just wonder what might be the possible reasons, and what potential steps I might follow to identify the root cause and fix the problems. Any tips/guidance are greatly appreciated, Thanks.

Below are the original undistorted raw image samples,

rgb_00021

rgb_00046

rgb_00078

Below are the reconstruction results,

bev_rgb_7_68e49e0e66c481d5489b

bev_seg_7_038980f6984edae92c0e

blend_image_7_e95724d50a846184a5fa

render_image_7_512b8b6e28ec6a0d4105

DRosemei commented 8 months ago

Sorry for late reply and there may be 3 reasons.

  1. Most important one: poses accuracy.
  2. Elevation estimation. You can check by comparing reconstructed points from traditional methods and your estimated road mesh.
  3. Frame rate. If it is too low, it may cause such results below. image
LevinJ commented 8 months ago

Hi @DRosemei , Thanks a lot for the input.

  1. I used the outoput from a novtel pbox with RTK to derive camera poses. will double check relevant codes.
  2. The distance between subsequent frames are mostly less than 1 meter, though some of the subsequent frames have larger distance, like 8 meters, will look into the issue.

Regarding reconstructing the scene with traditional methods, Which open source tools would you recommend for this purpose?

DRosemei commented 8 months ago

@LevinJ We all use colmap to reconstruct scenes as you can see here. image

LevinJ commented 8 months ago

Yes, I guessed it would be colmap. Thanks for your confirmation, @DRosemei