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alejandrofontan / AnyFeature-VSLAM

Any-Feature V-SLAM is an automated visual SLAM library for Monocular cameras capable of switching to a chosen type of feature effortlessly and without manual intervention.
GNU General Public License v3.0
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Problem Running EuRoC Dataset #1

Closed arjunskumar closed 1 month ago

arjunskumar commented 1 month ago

Problem Running EuRoC Dataset

Environment

Steps Taken

  1. Created a euroc_sequence folder with the following structure and copied MH_01/mav0/cam0/data to euroc_sequence/rgb :

    euroc_sequence/
└── rgb/
   └── [image files]

  2. Generated a rgb.txt file with the following content:

    1403636741763555584 rgb/1403636741763555584.png
1403636620813555456 rgb/1403636620813555456.png
1403636597963555584 rgb/1403636597963555584.png

  3. Modified calibration.yaml as follows:

    %YAML:1.0
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 458.654
Camera.fy: 457.296
Camera.cx: 367.215
Camera.cy: 248.375
Camera.k1: -0.28340811
Camera.k2: 0.07395907
Camera.p1: 0.00019359
Camera.p2: 1.76187114e-05
Camera.k3: 0.0
Camera.w: 752
Camera.h: 480
# Camera frames per second
Camera.fps: 20.0
#Camera.RGB: false

Command Run

./bin/mono "sequence_path:docs/euro_sequence"

Output

image

Questions

  1. Are there any issues with my steps?
arjunskumar commented 1 month ago

@alejandrofontan can you please look into this?

alejandrofontan commented 1 month ago

If you want to run AnyFeature-VSLAM with sequences from the EuRoC dataset, I recommend using the following:

https://github.com/alejandrofontan/VSLAM-LAB

In any case, could you please provide more details about the issue? Your output seems to be correct.