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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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Tracking Issue #108

Closed marleyshan21 closed 5 months ago

marleyshan21 commented 5 months ago

Hi @laxnpander

I have been running on a particular custom dataset. I am observing a weird phenomenon. The vision tracking is very bad compared to the GPS trajectory. It also keeps going straight during a turn. I thought it could be a dataset issue. I tried this dataset on openvslam separately without using openrealm. My results are really good.

Screenshot from 2024-04-10 13-28-09

Keeps going straight. When camera is moving leftwards, the movement is right wards for the vslam in certain locations as seen in the image.

Screenshot from 2024-04-10 13-44-23

Running openvslam separately. It doesn't keep moving straight. It moves laterally at the right places.

What could be causing this? Could you let me know how i can debug this issue?

Regards

marleyshan21 commented 5 months ago

Figured it out. Checked the exif tag of each image on qgis. Some of the tags were wrong.

Once this was fixed, the alignment was good