roslaunch orb_slam2_dense tum_pioneer.launch

[molong-d]

Hello author, thank you for your excellent work. I hope to reproduce your work, but I have encountered a problem: when I run rosluanch, I can finally see rviz but no map or image is displayed. But when I run ORB-SLAM2_DENSE that you previously used, I am able to create a map. May I ask if you can help me see where the problem is?

1）This is the naming convention for Python

(multimap3d) l@pc:~/slam/vslam/multiMap3D$ python src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/scripts/fcaf3d_sort_demo.py @@@@@/home/l/slam/vslam/multiMap3D/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/scripts/room_classifier/features_for_each_label_FEATURES_18.pkl Accuracy = 0.81 /home/l/anaconda3/envs/multimap3d/lib/python3.8/site-packages/MinkowskiEngine/init.py:221: UserWarning: The MinkowskiEngine was compiled with CPU_ONLY flag. If you want to compile with CUDA support, make sure torch.cuda.is_available() is True when you install MinkowskiEngine. warnings.warn( Loads checkpoint by local backend from path: /home/l/slam/vslam/multiMap3D/src/MultiMap3D/checkpoints/fcaf3d_8x2_scannet-3d-18class_20220805_084956.pth start

2） 2-1) tum_pioneer.launch <arg name="setting_path" doc="Path of SLAM and camera config .yaml file" default="/home/l/slam/vslam/multiMap3D/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/params/TUM3.yaml" /> <arg name="dataset_path" doc="Path of rosbag dataset, if use_sim is enabled" default="/home/l/slam/data/rgbd_dataset_freiburg3_long_office_household.bag" />

2-2） rgbd_launch.launch <arg name="voc_path" doc="Path of DBoW dictionary" default="/home/l/slam/vslam/multiMap3D/src/MultiMap3D/ORB-SLAM2_DENSE-master/Vocabulary/ORBvoc.bin" /> <arg name="setting_path" doc="Path of SLAM and camera config .yaml file" default="/home/l/slam/vslam/multiMap3D/src/MultiMap3D/ORB-SLAM2_DENSE-master/Examples/ROS/ORB_SLAM2_DENSE/params/TUM3.yaml" />

3）These are some running images

[molong-d]

I solved it, it's a rostopic issue

[ZhouJankin]

Cool, Mate. Also I found that you used CPU_ONLY version for Minkowski Engine. I'm not sure if it will work or not.