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laxnpander / OpenREALM

OpenREALM is a pipeline for real-time aerial mapping utilizing visual SLAM and 3D reconstruction frameworks.
GNU Lesser General Public License v2.1
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Test dataset - OrthoMosaic output #101

Closed marleyshan21 closed 8 months ago

marleyshan21 commented 8 months ago

Hi!

I was running the test dataset in 2D mapping with visual SLAM mode. I am seeing disparity in the results when compared to the video of OpenRealm. Screenshot from 2024-01-23 13-36-25 Screenshot from 2024-01-23 13-38-21

I tried playing around primarily with nrof_features for the orb extractor and ground sampling distance. What are the other main parameters that i need to tune? The images are for the default parameters that are present in the repo.

@laxnpander

laxnpander commented 8 months ago

@marleyshan21 I'd rather load the output gtiff into apps like QGIS and check there. I am pretty sure some of the static transformers is publishing a wrong transformation or the satellite map uses a wrong transformation. The output data is unaffected by that, just a visualisation issue. Not sure if I find the time fix it.

marleyshan21 commented 8 months ago

Ah okay ✌️! I will try it out on QGIS.

Also, I will work on checking this static transform part. If you could guide me on where this static transform part exists in the code, i could check it out and try fixing it.

Lemme know!

marleyshan21 commented 8 months ago

I tried it with QGIS. The results are a lot better with slight differences w.r.t the ground truth Screenshot from 2024-01-24 11-56-07

Screenshot from 2024-01-24 11-56-40

I will checkout the code regarding this static transform part. I could use your help in zeroing in on the file and function where these things happen.

laxnpander commented 8 months ago

If it's on OpenREALM side it is somewhere here:

https://github.com/laxnpander/OpenREALM_ROS1_Bridge/blob/master/realm_ros/src/realm_ros_lib/stage_node.cpp

Have you tried the rviz_satellite fork from my GitHub?

https://github.com/laxnpander/OpenREALM_ROS1_Bridge/blob/master/realm_ros/src/realm_ros_lib/stage_node.cpp

I think I remember there was an issue with some frames being redefined that caused the misalignment.

marleyshan21 commented 8 months ago

Using your fork of rviz_satellite solved it! https://github.com/laxnpander/rviz_satellite

Screenshot from 2024-01-25 09-45-16

Based on your commit, it looks like an issue with the frame being lookedup to determine the transformation. Your fork uses the one needed by OpenRealm

Thanks for the help @laxnpander!

laxnpander commented 8 months ago

Sure, glad I could help.