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luigifreda / plvs

PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.
GNU General Public License v3.0
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visualization #4

Closed enginksz closed 10 months ago

enginksz commented 10 months ago

Hello,

Attached is the result I got when I ran the gbd_dataset_freiburg2_pioneer_slam3 dataset as an example.

rgbd_2_slam3

I can't see the Point Cloud output. I deleted Pangolin and reinstalled it, but I couldn't figure out what the problem was.

luigifreda commented 10 months ago

Hi, thanks for the feedback. You need to activate it (briefly explained here https://github.com/luigifreda/plvs/blob/master/new_features.md)

Go into https://github.com/luigifreda/plvs/blob/master/Examples_old/RGB-D/TUM2.yaml

Set PointCloudMapping.on: 1 here https://github.com/luigifreda/plvs/blob/master/Examples_old/RGB-D/TUM2.yaml#L161

and play with the different methods by changing PointCloudMapping.type here https://github.com/luigifreda/plvs/blob/master/Examples_old/RGB-D/TUM2.yaml#L165