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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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different results with rgbd and ros-rgbd #65

Open robotsoft opened 8 years ago

robotsoft commented 8 years ago

Hi,

I have totally different results with rgbd and ros-rgbd. ros-rgbd looks not working while rgbd looks working well. In ros-rgbd, keyframes are shown at almost same position. I used following commands for rgbd and ros-rgbd respectively.

$./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE $rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml Thank you.
riematrix commented 8 years ago

@robotsoft Seems that the ros rgbd example doesn't use the correct topic name. Please check the ros example source code on topic name, at about line 68 or so. Both rgb and depth topic should be modified to match the actual topic name you are using, referring to the result of command "rostopic list".

ameysutavani commented 6 years ago

@robotsoft were you able to solve the ros_rgbd keyframes being stuck at the same location issue? I am also facing a similar problem.

robotsoft commented 6 years ago

@ameysutavani, I'm sorry I didn't have a solution for this issue.

wxyz123456 commented 4 years ago

@robotsoft @ameysutavani Hi guys, two years have passed, have you solve this problem?

qipengliuNTU commented 4 years ago

Hi @wxyz123456 . I think I have solved the problem. Please check this page: https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats#intrinsic_camera_calibration_of_the_kinect. It says that "factor = 5000 # for the 16-bit PNG files OR: factor = 1 # for the 32-bit float images in the ROS bag files". So we should change the value of DepthMapFactor in Examples/RGB-D/TUMX.yaml if we want to run ros-rgbd.