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HengyiWang / Co-SLAM

[CVPR'23] Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM
https://hengyiwang.github.io/projects/CoSLAM.html
Apache License 2.0
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Custom Blender Data #52

Open HamzaOuajhain opened 2 days ago

HamzaOuajhain commented 2 days ago

Hello, and thank you for this wonderful repository.

I have created this scene in Blender with a very simple object and a camera rotating arround it, I unfortunatly was not able to get good result. I have tried many configurations and different conventions in order to solve this issue.

image

https://github.com/HengyiWang/Co-SLAM/assets/121122945/c43a9573-c83a-4ad2-a190-c5e0a7e7f219

For a total of 2001 frames, I have created a camera that will be able to output both depth and rgb information and a script that which is created to change the convention from Blender into OpenCV convention, in order to work the same way Replica is ran with Co-SLAM. I my Replica in order to create my own yaml file. The main difference in the yaml file is : cam: H: 480 W: 640 fx: 888.8889 fy: 1000.0000 cx: 320.0 cy: 240.0 and for the bound I chose : mapping: bound: [[-5,5],[-5,5],[-5,5]] marching_cubes_bound: [[-5,5],[-5,5],[-5,5]] This is the visualisation of the bounding box : image

This is the resulting mesh from vis_bound : image

Results :

image

We can conclude that the convention used is correct from the way the ground truth ATE RMSE is matching, the expected ground truth.

image

Any suggestion where things went wrong ?

HengyiWang commented 2 days ago

From the result of vis_mesh, the camera convention seems to be wrong. We use OpenGL c2w, please double-check your camera pose convention (OpenGL or OpenCV, w2c or c2w).