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HJMGARMIN / OVD-SLAM

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running error #2

Closed selfInnovator closed 1 year ago

selfInnovator commented 1 year ago

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: load model success There are 1 cameras in the atlas Camera 0 is pinhole 0.01 50 1 load model success

Start processing sequence ... Images in the sequence: 827

First KF:0; Map init KF:0 New Map created with 1071 points Starting the Viewer the above is running prompt, i find the running result does not reject dynamic object, its running result is consistent with ORB-SLAM3. Could answer me, thank you.

selfInnovator commented 1 year ago

by theway,I export engine by meself.

HJMGARMIN commented 1 year ago

Please provide your yaml file.

selfInnovator commented 1 year ago

%YAML:1.0

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Camera Parameters. Adjust them!

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File.version: "1.0"

Camera.type: "PinHole"

Camera calibration and distortion parameters (OpenCV)

Camera1.fx: 535.4 Camera1.fy: 539.2 Camera1.cx: 320.1 Camera1.cy: 247.6

Camera1.k1: 0.0 Camera1.k2: 0.0 Camera1.p1: 0.0 Camera1.p2: 0.0

Camera.width: 640 Camera.height: 480

Camera frames per second

Camera.fps: 30

Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)

Camera.RGB: 1

Close/Far threshold. Baseline times.

Stereo.ThDepth: 40.0 Stereo.b: 0.2247

Depth map values factor

RGBD.DepthMapFactor: 5000.0

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ORB Parameters

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ORB Extractor: Number of features per image

ORBextractor.nFeatures: 1500

ORB Extractor: Scale factor between levels in the scale pyramid

ORBextractor.scaleFactor: 1.2

ORB Extractor: Number of levels in the scale pyramid

ORBextractor.nLevels: 8

ORB Extractor: Fast threshold

Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.

Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST

You can lower these values if your images have low contrast

ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7

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Viewer Parameters

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Viewer.KeyFrameSize: 0.05 Viewer.KeyFrameLineWidth: 1.0 Viewer.GraphLineWidth: 0.9 Viewer.PointSize: 2.0 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3.0 Viewer.ViewpointX: 0.0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500.0

UseDynamic: 1 PointCloudMapping: 1 PointCloudMapping.Resolution: 0.01 meank: 50 thresh: 1.0 this is TUM3.yaml

HJMGARMIN commented 1 year ago

Do you use the engine files provided by me? If not, please check the output of YOLO thread.