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Jianxff / droid_metric

run DROID-SLAM with Metric3D to improve monocular performance
BSD 3-Clause "New" or "Revised" License
105 stars 7 forks source link

the reconstruction get worse when use depth #1

Closed yueyunqingwu closed 6 months ago

yueyunqingwu commented 7 months ago

hi, thank you for your great work. I notice that the reconstruction get worse when use depth in your readme.md, I get the same result, how to impove it? Thanks!

Jianxff commented 7 months ago

thanks for your feedback. I'm not so clear about your question, did you mean an inaccurate trajectory or a low quality of the visual scene?

If it is the latter, you can try to press key 'S' on your keyboard to increase filter to get denser pointcloud （press 'A' to decrease）. Notice that denser pointcloud will take up more video memory. Change params on file 'renderoption.json' may also improve the visualization quality.

If it is about the trajectory, it may caused by inaccurate depth estimation or DROID-SLAM system. I'm sorry that currently I donot have good ideas to improve it.

yueyunqingwu commented 7 months ago

Thank you for your reply. I mean a low quality of the visual scene under the same visualization settings. image without_depth.jpg image with_depth.jpg

qiuhaining commented 6 months ago

not find submodule in this repo, what is the submodule commitid?

Jianxff commented 6 months ago

@qiuhaining sorry for that, it may has been fixed now.

Jianxff commented 6 months ago

@yueyunqingwu sorry I don't have much ideas for it. You can press 'S' to increase the depth filter on visualize, if it doesn't work I think it may caused by a wrong depth estimation.

yueyunqingwu commented 6 months ago

@Jianxff Thank you for your kindly reply!