search

ZhouJankin / MultiMap3D

Use ORB-SLAM2 to build a metricmap and localization, fcaf3d to detect 3D objects, and build a tracker database to manage the objects detected.
37 stars 6 forks source link

3D detection and Mot #3

Open Akina2001 opened 9 months ago

Akina2001 commented 9 months ago

Hello! I would like to ask how to get a stable 3D target detection result? Because I found that the detection results of each frame will change in scale and position. And ate the same time, I want to ask dou you convert the detection results to the world coordinate system according to the result of SLAM? thank you for your reply!

Akina2001 commented 9 months ago

Supplement: For the second question, I mean, whether the detection results are converted into the world coordinate system in the MOT and then tracked. thank you for your reply!

ZhouJankin commented 8 months ago

If the detection results change every frame, it seems you are using each frame's local points-cloud to do the detection and updates slowly, which means there are no Covisibility objects. I suggest you change function"mpMsgUtils_->publishPointCloud();", and publish the global points-cloud.