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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.
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3D detection and Mot #3

Open Akina2001 opened 11 months ago

Akina2001 commented 11 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 11 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 10 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.