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ethz-asl / ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)
http://wiki.ros.org/ethzasl_ptam
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Moving away from the initialised ptam grid! #83

Closed ank700 closed 7 years ago

ank700 commented 8 years ago

Hi, ptam works fine on my pc if the initialised grid is in view. It is easy to keep the grid in view if the camera is facing forwards, but if it is facing downwards and I translate the camera such that the grid goes out of view, then after a few seconds, the tracking is lost (Attempting Recovery!).

Is tracking possible even if the grid is not in view? I want to perform odometry for long distances (~500metres) inside/outside.

Thanks

stephanweiss commented 8 years ago

Yes, tracking is possible even if the grid is not in view, in fact the grid is only for visualizing the area of origin and has nothing to do with the tracking or its quality. Most likely, your camera calibration is off. Please follow the tutorials on the ROS wiki to verify this.

Best,

Stephan

Von: ank700 notifications@github.com Gesendet: Mittwoch, 01. Juni 2016 14:22 An: ethz-asl/ethzasl_ptam Betreff: [ethz-asl/ethzasl_ptam] Moving away from the initialised ptam grid! (#83)

Hi, ptam works fine on my pc if the initialised grid is in view. It is easy to keep the grid in view if the camera is facing forwards, but if it is facing downwards and I translate the camera such that the grid goes out of view, then after a few seconds, the tracking is lost (Attempting Recovery!).

Is tracking possible even if the grid is not in view? I want to perform odometry for long distances (~500metres) inside/outside.

Thanks

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ank700 commented 8 years ago

Hello @stephanweiss , Thanks for your help. I calibrated the camera once again in careful light conditions. Now, it is much more stable. I was easily able to cover the whole lab with rotations and other crazy movements. Although, all movements have to be performed a little slowly otherwise it tries to attempt for recovery.

stephanweiss commented 8 years ago

great, glad to hear and thanks for the feedback.

Have fun with the framework!

Von: ank700 notifications@github.com Gesendet: Freitag, 03. Juni 2016 17:57 An: ethz-asl/ethzasl_ptam Cc: Stephan Weiss; Mention Betreff: Re: [ethz-asl/ethzasl_ptam] Moving away from the initialised ptam grid! (#83)

Hello @stephanweisshttps://github.com/stephanweiss , Thanks for your help. I calibrated the camera once again in careful light conditions. Now, it is much more stable.

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