search

benchun123 / point-plane-object-SLAM

Structure SLAM with points, planes, and objects
Other
48 stars 6 forks source link

About dataset #6

Open ellem2023 opened 7 months ago

ellem2023 commented 7 months ago

Great work. did you make real test? I have a d435i camera now. I'd like to run this project online . could you give me some tips? if it can't run lively, how can I make my own dataset like yours? the dataset includes "livingRoom2.gt", does this project use ths file or use poses that slam eatimates?

Snipaste_2024-02-01_16-09-09

benchun123 commented 5 months ago

Hello, thanks for following this work, I explain the question as follows:

  1. this project is offline, the idea is to verify the whole SLAM system with points, planes, and objects, which means, object detection is not online (the reason is that it costs time).
  2. if you run this project offline, you just need to save a dataset with: rgb image, depth image (or plane detection results), camera parameters, offline cuboid detection results. The ground truth is just used to verify if the estimate trajectory is good or not.
  3. if you want to do it online, I would recommand you to communicate with @Mechazo11, he also had the same idea with this reporitory .

Hope you can succeed. Best regards, Benchun Zhou