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PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
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How about your SLAM ATE? #21

Open Epiphany-f opened 8 months ago

Epiphany-f commented 8 months ago

I run your SLAM code in my ubuntu18.04,and i find it is not good about translation of ATE.You can watch my picture,it is in point and line mode. 微信图片_20240116163109

PeterFWS commented 8 months ago

Hi,

are you able to reconstruct similar point-line maps as I illustrated in the examples (e.g. MH04)? if not, probably something is wrong.

Best,

Epiphany-f commented 8 months ago

Yeah, I can reconstruct point-line maps when i run MH04.I don't change your code.Finally I find the camera is reversed when i run MH04,it is strange.

Epiphany-f commented 8 months ago

Are you chinese?

PeterFWS commented 8 months ago

Yeah, I can reconstruct point-line maps when i run MH04.I don't change your code.Finally I find the camera is reversed when i run MH04,it is strange.

okay, if the camera is reversed then it is the problem... I am not sure why it happened actually, I guess there is a bug.

Best,

PeterFWS commented 8 months ago

Are you chinese?

yes.

Epiphany-f commented 8 months ago

Yeah, I can reconstruct point-line maps when i run MH04.I don't change your code.Finally I find the camera is reversed when i run MH04,it is strange.

okay, if the camera is reversed then it is the problem... I am not sure why it happened actually, I guess there is a bug.

Best, 请问一下，我跟你跑的这个数据集的结果相差很大吗？因为我没怎么改代码，我就是跑一下的你的结果看看。

PeterFWS commented 8 months ago

Yeah, I can reconstruct point-line maps when i run MH04.I don't change your code.Finally I find the camera is reversed when i run MH04,it is strange.

okay, if the camera is reversed then it is the problem... I am not sure why it happened actually, I guess there is a bug. Best, 请问一下，我跟你跑的这个数据集的结果相差很大吗？因为我没怎么改代码，我就是跑一下的你的结果看看。

2 年前在我的 PC 上跑的结果类似，这些结果在paper附录中。 在升级Ubuntu后我确实发现....甚至换了一台新笔记本电脑，相机也颠倒了......我不知道bug在哪里。你可以看看我上传到github的视频。 线检测,跟踪, 和BA 的实现可能对你有用，你可以尝试重新实现它。谢谢。

Epiphany-f commented 8 months ago

Yeah, I can reconstruct point-line maps when i run MH04.I don't change your code.Finally I find the camera is reversed when i run MH04,it is strange.

okay, if the camera is reversed then it is the problem... I am not sure why it happened actually, I guess there is a bug. Best, 请问一下，我跟你跑的这个数据集的结果相差很大吗？因为我没怎么改代码，我就是跑一下的你的结果看看。

2 年前在我的 PC 上跑的结果类似，这些结果在paper附录中。 在升级Ubuntu后我确实发现....甚至换了一台新笔记本电脑，相机也颠倒了......我不知道bug在哪里。你可以看看我上传到github的视频。 线检测,跟踪, 和BA 的实现可能对你有用，你可以尝试重新实现它。谢谢。

好的，有机会我会修复，谢谢您的回复与帮助。

rangingwaves commented 2 months ago

@Epiphany-f 修复了没有，大佬，我的相机也是倒过来的