search

VIS4ROB-lab / ccm_slam

CCM-SLAM: Robust and Efficient Centralized Collaborative Monocular SLAM for Robotic Teams
538 stars 107 forks source link

Data packet from server to client about client's past experience when visiting a mapped location was not found. #64

Closed Jufer1 closed 10 months ago

Jufer1 commented 1 year ago

The system was run on the EuRoC dataset with four clients enabled. I collected the server to client packet MapOutServer and did not see any past experience with the mapped data in it. The packet looks like this:

header: seq: 0 stamp: secs: 1685193487 nsecs: 664260356 frame_id: '' mMsgId: 1 Keyframes: [] KFUpdates: [] MapPoints: [] MPUpdates: [] vAckKFs: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12] vAckMPs: [1, 3, 5, 7, 11, 17, 18, 20, 22, 24, 31, 37] WeakAckKF: 65535 WeakAckMP: 4294967295 ClosestKf_Id: 0 ClosestKf_ClientId: 0

Where can I find the mapped past experience packet that the server sends to the client?

patriksc commented 1 year ago

Hi, did you change the parameter Comm.Server.KfsToClient? (cf. https://github.com/VIS4ROB-lab/ccm_slam#6-parameters). It's set to 0 by default (https://github.com/VIS4ROB-lab/ccm_slam/blob/b054ef343d9d99fcc695d8ca525594d0466a5a49/cslam/conf/config.yaml#L96).

patriksc commented 10 months ago

Closed - inactive