search

VIS4ROB-lab / covins

COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
384 stars 63 forks source link

map reset frequently #17

Closed flyover-26 closed 2 years ago

flyover-26 commented 2 years ago

hi! I test this with realsense d435i camera. However,I find it will reset frequently.I konw orb-slam3 have the same problem.Is there any method to let this system run well with my own camara? Looking forward to your reply!

patriksc commented 2 years ago

Hi! Since this implementation of COVINS employs ORB-SLAM3 as the VIO front-end, if ORB-SLAM3 has know problems with this kind of camera, you will unfortunately also see them in COVINS.

flyover-26 commented 2 years ago

thank you so much! I notice that you mentioned that whenmaps are not merged yet, the visualization in RVIZ might toggle between the visualization of both trajectories. Is there any method to avoid this happening? thank you for your patience!

patriksc commented 2 years ago

Unfortunately, this is a minor issue with the way the visualization is implemented currently. This is indeed not optimal, we'll try fix this in the future - but for now, there's not immediate way to avoid this, sorry!

patriksc commented 2 years ago

Problem seems resolved for the moment - closing this issue.