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gaoxiang12 / ORBSLAM2_with_pointcloud_map

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Serious problem in overlap part of one poind cloud #34

Open JiaruiWang-Jill opened 5 years ago

JiaruiWang-Jill commented 5 years ago

Hi, @gaoxiang12 . Thanks a lot for providing this useful tool.

I use orb slam2 with kinect v1 to reconstruction 3D point cloud. Here is one work result.

screenshot from 2018-08-20 00-36-00

I got quite confused because there is a serious problem in overlapping part. I think calibration should not be the first reason. But I fail to think out other resolutions.

Any suggestions? Thx a lot in advance!

gaoxiang12 commented 5 years ago

This is probably due to the drift in the estimated trajectory. I'm not sure if your orb-slam2 find this loop closure, if so you can rebuild the map after loop closing so that you get the right pose.

JiaruiWang-Jill commented 5 years ago

Thanks a lot for your reply!

I am little confused of the concept " rebuild the map ". Why do we need to rebuild the map? Shouldn't we only need to concentrate on rgb+depth+pose? Besides, how to rebuild the map?

Sorry to ask if it is a stupid question.

RahmanMifta commented 5 years ago

@JillWangJill Hello. Have you found any solution to your problem? I am also facing same problem.

JiaruiWang-Jill commented 5 years ago

Hi, it was long time ago. I remembered that some serious drift can be killed by moving your device more horizontally, instead of sticking it to one point and circling it. Also, the R,T of key frames will change after matching the same place. Therefore, when generating the mesh/point cloud. As for other aspects, I fail to find a proper solution.

Hope these can help.

On Thu, Jan 17, 2019, 5:20 PM Miftahur Rahman <notifications@github.com wrote:

@JillWangJill https://github.com/JillWangJill Hello. Have you found any solution to your problem? I am also facing same problem.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map/issues/34#issuecomment-455099983, or mute the thread https://github.com/notifications/unsubscribe-auth/AnRW-Blc33WYHES1fF4YJtLs4YecKQtNks5vEEBygaJpZM4WDQFO .