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HJMGARMIN / OVD-SLAM

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run problems #5

Closed CoderDoubleTen closed 8 months ago

CoderDoubleTen commented 10 months ago

Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters SLAM settings: -Camera 1 parameters (Pinhole): [ 535.4 539.2 320.1 247.6 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -RGB-D depth map factor: 5000 -Features per image: 1500 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while... terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc 已放弃

HJMGARMIN commented 10 months ago

I have changed the vocabulary file from txt to bin. Therefore, please use "./Vocabulary/ORBvoc.bin"

CoderDoubleTen commented 10 months ago

thanks!!!

CoderDoubleTen commented 10 months ago

jieguo 请问我运行结果怎么只有这两个窗口，而且没有剔除掉动态点，好像就是原本的orb-slam3的效果，请问原本的运行结果是什么呢？谢谢

HJMGARMIN commented 10 months ago

看一下你yaml文件，里面设置了是否去除动态和稠密建图的开关

CoderDoubleTen commented 10 months ago

请问一下是哪个yaml文件呢？我只使用了TUM3.yaml,里面也没有发现控制开关呀

HJMGARMIN commented 10 months ago

https://github.com/HJMGARMIN/OVD-SLAM/blob/afca45de6eee3bdac4bd7c2ad33add9f56ee100d/Examples/RGB-D/TUM3.yaml#L71

CoderDoubleTen commented 10 months ago

非常感谢！谢谢！！！

CoderDoubleTen commented 9 months ago

请问一下按照你的源码，我xyz数据集跑出来的std 为0.010，rmse为0.018.跟你论文的实验数据差了不少，请问能帮我分析一下是什么原因吗？谢谢

HJMGARMIN commented 9 months ago

需要调参的，特征点数量等等各种参数都会影响，而且我发布的代码为在原始ORB-SAM3的基础上进行修改的，并没有根据论文的源代码刻意调整参数，而且因为项目协议的问题并不能发布全部代码，只能给出一个相近的实现思路