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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Initialising map everytime it loses track #393

Open tejalbarnwal opened 2 years ago

tejalbarnwal commented 2 years ago

The feature that makes a new pose trajectory graph every time the algorithm loses track. Can this feature be disabled somehow? so that it continues to stitch the upcoming estimation after it lost track to the pose graph that it made before losing the track?

UcefMountacer commented 2 years ago

totally agree with you on this. In fact, it not only initialize point cloud, but also trajectory. This one can become really messy.

I would like to have a solution too.

By the way @tejalbarnwal, were you able to export point cloud? if so, I'd like to know how. Thanks.

tejalbarnwal commented 2 years ago

I havent done it, but I saw some code snippet which could help you maybe std::vector<MapPoint*> GetTrackedMapPoints() and std::vector<cv::KeyPoint> GetTrackedKeyPointsUn() inside System.h They have used in examples inside ros_mono_ar.cc

lktidaohuoxing commented 2 years ago

@tejalbarnwali want to keep a global Tcw (when it lost), but i fall. i only change the Tcw in initFrame and currentFrame before CreateInitialMapMonocular() , and result is orbslam3 cannot create a new map, what should i do, ? what else should i modify ? Sorry, im not good at English.

tejalbarnwal commented 2 years ago

@lktidaohuoxing Sorry, I didn't really look into the source code extensively to rectify the problem.
But in case you just want to store the Tcw of the current frame, you can write your function to save it in a text file and then later you can make manipulations over that data to obtain all the points in one frame. Further, it might be possible that the code isn't able to create a keyframe with the new tcw inside the CreateInitialMapMonocular(). In case you haven't, I urge you to add cout statements before and inside CreateInitialMapMonocular() and CreateMapInAtlas() We would be very grateful if contributors to the repository @richard-elvira @jdtardos could help us with this.

chetanpandey1266 commented 1 year ago

Was someone able to work this out? I am not able to figure out how to not reset the map over a video, so that I can get the whole map in one file only

chetanpandey1266 commented 1 year ago

Have anyone worked on this and made it work ?

tejalbarnwal commented 1 year ago

Hey @chetanpandey1266 , I used the repo for some student competition 2 years back and havent looked at it very much since then.