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HuajianUP / Photo-SLAM

[CVPR 2024] Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras
GNU General Public License v3.0
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How can I build a yaml ？ #32

Open Suhao07 opened 2 months ago

Suhao07 commented 2 months ago

If I want to run on another dataset, how can I obtain the YAML file for Gaussian Mapper?

liquorleaf commented 2 months ago

You will need a YAML for ORB-SLAM3, e.g. cfg/ORB_SLAM3/Monocular/Replica/office0.yaml, and another YAML for Gaussian Mapper, e.g. cfg/gaussian_mapper/Monocular/Replica/office0.yaml.

Then you will have to adjust the parameters in both YAMLs: For ORB-SLAM3, adjust the parameters according to your type of sensor (there are also templates in cfg/ORB_SLAM3/Stereo and cfg.ORB_SLAM3/RGB-D) and image resolution. For Gaus. Mapper, adjust the parameters started with Monocular./Stereo./RGBD. according to your type of sensor.

Suhao07 commented 2 months ago

You will need a YAML for ORB-SLAM3, e.g. cfg/ORB_SLAM3/Monocular/Replica/office0.yaml, and another YAML for Gaussian Mapper, e.g. cfg/gaussian_mapper/Monocular/Replica/office0.yaml.

Then you will have to adjust the parameters in both YAMLs: For ORB-SLAM3, adjust the parameters according to your type of sensor (there are also templates in cfg/ORB_SLAM3/Stereo and cfg.ORB_SLAM3/RGB-D) and image resolution. For Gaus. Mapper, adjust the parameters started with Monocular./Stereo./RGBD. according to your type of sensor.

You will need a YAML for ORB-SLAM3, e.g. cfg/ORB_SLAM3/Monocular/Replica/office0.yaml, and another YAML for Gaussian Mapper, e.g. cfg/gaussian_mapper/Monocular/Replica/office0.yaml.

Then you will have to adjust the parameters in both YAMLs: For ORB-SLAM3, adjust the parameters according to your type of sensor (there are also templates in cfg/ORB_SLAM3/Stereo and cfg.ORB_SLAM3/RGB-D) and image resolution. For Gaus. Mapper, adjust the parameters started with Monocular./Stereo./RGBD. according to your type of sensor.

I mean how can I get a yaml for /cfg/gaussian_mapper on a new dataset like tum_freiburg3_walking_xyz? When I directly run it ,the error occurs: Screenshot from 2024-09-12 21-09-03

liquorleaf commented 2 months ago

This is probably not a YAML problem. Please see if #5 #12 #15 #33 solves it.

Suhao07 commented 2 months ago

This is probably not a YAML problem. Please see if #5 #12 #15 #33 solves it.

I tried these methods but it didn't work.Have you test it on tum_freiburg3_walking_xyz before?When I tested on other datsets like tum_freiburg1_desk, I didn't encounter this issue.Or I mean have you tested on dynamic scene before? Thanks for your reply:)

liquorleaf commented 2 months ago

We haven't tested this sequence yet. Did you figure out where this exception was thrown with tools like VSCode cpp debugger? ORB-SLAM3 was not even able to initialize in your figure. If you were using RGBD, was there a proper association file (e.g. cfg/ORB_SLAM3/RGB-D/TUM/associations/tum_freiburg3_long_office_household.txt) for ORB-SLAM3?

liquorleaf commented 2 months ago

Please see ORB-SLAM3 association files for TUM. Each sequence of TUM dataset needs a new association.txt.