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DRosemei / RoMe

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Subpar reconstruction result in some regions of the road #40

Closed LevinJ closed 4 months ago

LevinJ commented 5 months ago

With a dataset collected by myself, the overall Rome road surface reconstruction result is quite good. However, I also notice one region looks a bit off, specifically, the lane line in this regions is not straight, and its distance to neighboring lane line is slightly larger.

I highlighted the erroneous region with a black box in below images. Considering the fact that the lane lines in other regions look normal, I keep wondering what might be the possible causes for such problems, and what can be done to correct it.

bev_rgb_7_32166d00beb3ff88a24f bev_seg_7_613d0676ff794b919732

DRosemei commented 5 months ago

Sorry for late reply. You can check final mesh file, it may be something wrong in bev elevations. For solution, you can use SfM/MVS points to limit bev elevations.

LevinJ commented 4 months ago

Thanks a lot for your kind pointer. I will try using colmap MVS points to initialize the mesh. Just to confirm, currently initializing bev mesh based on point clouds are not supported in the Rome github codes, and I have to add this part myself, is this correct?

DRosemei commented 4 months ago

Yes, you can do it yourself:)