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qcr / quadricslam

Demonstrations of performing SLAM using Quadrics
BSD 3-Clause "New" or "Revised" License
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Can I know how you draw the ellipsoid and image in the same window? Like the tum_rgbd_dataset demo picture do? #13

Open Flanker-E opened 1 year ago

Flanker-E commented 1 year ago

I read the visualisation.py and found that there seems only to have the visualization of ellipsoids in a 3D space. I'm wondering how to draw a picture with the current frame and projected ellipsoid in the same window, which can facilitate further development and debugging. Thanks!

AllenIsaacJose commented 1 year ago

Have the same same issue when trying to run with TUM RGBD dataset. The ellipsoids are overlapping one over the other and the visualization doesn't seems to be meaningful.

plot

Flanker-E commented 1 year ago

Have the same same issue when trying to run with TUM RGBD dataset. The ellipsoids are overlapping one over the other and the visualization doesn't seems to be meaningful.

plot

This naive init code init the quad with pose at zero point and fix the radius. Use the initialization with depth, it will help.

AllenIsaacJose commented 1 year ago

Screenshot from 2023-03-30 12-27-56

Thanks, now i am getting each quadrics seperately using quadric_initialiser = initialise_quadric_from_depth. Dont know why they look flat though. Is it because the object_depth is set as 0.1 by default?

Also, eventhough the depth information are present in TUM RGBD dataset, in the next() function in data_source/tum_rgbd.py, the depth is passed as None.