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SYSU-STAR / H2-Mapping

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation (2023 RAL Best Paper Award)
GNU General Public License v3.0
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L515重建效果不佳 #26

Closed orientwx closed 8 months ago

orientwx commented 8 months ago

imageimage 这是建图的正常水平吗，还得有其他原因？ 使用的launch和config文件和你们提供的参考是一样的

JIANG-CX commented 8 months ago

影响建图质量的因素很多，请参看其他issue中的一些回答进行调整 （eg. #8 ， #16 , #25 等等)

orientwx commented 8 months ago

影响建图质量的因素很多，请参看其他issue中的一些回答进行调整 （eg. #8 ， #16 , #25 等等)

我按照之前的回答修改了voxel_size就报错了 image

是不是相机参数没设置好？这个噪声是不是偏大？ image

JIANG-CX commented 8 months ago

第一个报错是显示当前帧下没有任何ray和voxel有相交，请确认一下是否按https://github.com/SYSU-STAR/H2-Mapping#use-your-own-rgb-d-sequence 正确设置了offset等参数

JIANG-CX commented 6 months ago

像这种线缆细节为什么建图不出来imageimage

pose和深度的测量，都会影响重建的效果，现在mesh的分辨率是1/80m，如果pose和深度没问题，也可以提升一下mesh分辨率

hesen3 commented 6 months ago

提升分辨率内存容易爆满，是提高这个mesh_res参数吗？

JIANG-CX commented 6 months ago

对的，你可以改一下代码，比如分批次，然后放到cpu储存

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发件人: biosen3 @.> 发送时间: Friday, March 15, 2024 9:17:12 PM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H2-Mapping] L515重建效果不佳 (Issue #26)

提升分辨率内存容易爆满，是提高这个mesh_res参数吗？

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H2-Mapping/issues/26#issuecomment-1999644587, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTOJKIS7MBDP6RW52DYYLYFRAVCNFSM6AAAAABB74VLCOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSOJZGY2DINJYG4. You are receiving this because you modified the open/close state.Message ID: @.***>

hesen3 commented 6 months ago

对的，你可以改一下代码，比如分批次，然后放到cpu储存 获取 Outlook for iOShttps://aka.ms/o0ukef ... ____ 发件人: biosen3 @.> 发送时间: Friday, March 15, 2024 9:17:12 PM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H2-Mapping] L515重建效果不佳 (Issue #26) 提升分辨率内存容易爆满，是提高这个mesh_res参数吗？ ― Reply to this email directly, view it on GitHub<#26 (comment)>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTOJKIS7MBDP6RW52DYYLYFRAVCNFSM6AAAAABB74VLCOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSOJZGY2DINJYG4. You are receiving this because you modified the open/close state.Message ID: @.***>

你好，请问这部分修改可以说的详细一下吗？

JIANG-CX commented 6 months ago

你可以先提高这个mesh_res参数但只重建小一点的区域，这样就可以减少显存消耗。如果问题得以解决，再看下是extract_mesh中哪个部分溢出了，把那部分放到cpu内存。

发件人: biosen3 @.> 发送时间: 2024年3月16日 15:42 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H2-Mapping] L515重建效果不佳 (Issue #26)

对的，你可以改一下代码，比如分批次，然后放到cpu储存 获取 Outlook for iOShttps://aka.ms/o0ukef ... ____ 发件人: biosen3 @.> 发送时间: Friday, March 15, 2024 9:17:12 PM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; State change @.> 主题: Re: [SYSU-STAR/H2-Mapping] L515重建效果不佳 (Issue #26https://github.com/SYSU-STAR/H2-Mapping/issues/26) 提升分辨率内存容易爆满，是提高这个mesh_res参数吗？ D Reply to this email directly, view it on GitHub<#26 (comment)https://github.com/SYSU-STAR/H2-Mapping/issues/26#issuecomment-1999644587>, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNTOJKIS7MBDP6RW52DYYLYFRAVCNFSM6AAAAABB74VLCOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTSOJZGY2DINJYG4. You are receiving this because you modified the open/close state.Message ID: @.***>

你好，请问这部分修改可以说的详细一下吗？

― Reply to this email directly, view it on GitHubhttps://github.com/SYSU-STAR/H2-Mapping/issues/26#issuecomment-2001894562, or unsubscribehttps://github.com/notifications/unsubscribe-auth/APMKKNVMC4EWOV5VJMNUFSTYYPZVBAVCNFSM6AAAAABB74VLCOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDAMBRHA4TINJWGI. You are receiving this because you modified the open/close state.Message ID: @.***>