search

princeton-vl / DROID-SLAM

BSD 3-Clause "New" or "Revised" License
1.82k stars 303 forks source link

Monocular RGB SLAM with fixed poses #117

Closed pangbo1997 closed 11 months ago

pangbo1997 commented 11 months ago

Thanks for the great work. However, I'm struggling with using the inference procedure of the project on the monocular RGB scene. To ensure the consistency of the pose and scale, I would like to remain several poses fixed and I modified the [droid_kernels. Cu] file, setting Jacobins to zero if the pose is fixed. But the results were far from except. I have also tried not to update the fixed pose, and it didn't work either. Did I get something wrong? Any suggest will be very helpful, thank you!

lbg030 commented 6 months ago

I have same Problem too. I set GT pose and modify ba_cuda functions that ignore update poses codes. But It doesn't work.

Did you solve this problem ?