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johannes-graeter / limo

Lidar-Monocular Visual Odometry
GNU General Public License v3.0
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deactivating semantic label #39

Closed hcyoo93 closed 4 years ago

hcyoo93 commented 4 years ago

Thank you for great work!

I looked through previous Issues regarding this like #16, #30

However, I don't understand the approach clearly and I tried different way.

It looks fine, but I want to check if it is correct and share this.

  1. kitti_standalone.launch Line 52 <include file="$(find demo_keyframe_bundle_adjustment_meta)/launch/semantic_labels.launch"/>

to

<!-- include file="$(find demo_keyframe_bundle_adjustment_meta)/launch/semantic_labels.launch"/ -->

  1. keyframe_ba_monolid.launch Line 4 <arg name="tracklets_subscriber_topic" default="/tracklets_depth/tracklets/left/with_outlier_label"/>

to

<arg name="tracklets_subscriber_topic" default="/tracklets_depth/tracklets/left/with_outlier_dummy"/>

For number2, I didn't get any issue when I ran the code, but as I said above

I want to get a check from others

Thank you

johannes-graeter commented 4 years ago

Yes thats the way, matches get a label of -1 per default which means "ignore label" so if the semantic_label node does not overwrite these, the keyframe_ba_monolid node will treat them independanlty of semantics. The results are dumped to the dump_path, specified in keyframe_ba_monolid.launch, line 59. Per default this is /tmp/poses_dump.txt

If the performance is not good enough, play around with the threshold parameters in keyframe_ba_monolid node and share your results :) I used that on our autonomous vehicle but never tuned it on KITTI :)