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sair-lab / AirSLAM

🚀 AirVO upgrades to AirSLAM 🚀
GNU General Public License v3.0
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无法在Newer College Dataset上运行 #145

Open Alex-Beh opened 1 week ago

Alex-Beh commented 1 week ago

你好 我尝试在Newer College Dataset上测试AirSLAM，可是一直没有good_stereo_point. 有matches可是应该都被这部分的checking给filter掉了。请问应该如何设置这里的parameter? https://github.com/sair-lab/AirSLAM/blob/61779f24d104baaf9f447cf8a5f885cc07970118/configs/camera/euroc.yaml#L7-L9

vo_oxford.json oxford.json

[需要rename去yaml的extension，github不允许上传yaml文件]

xukuanHIT commented 1 week ago

@Alex-Beh 你好，可以检查下是哪个条件没满足。另外，可以检查下双目校正的结果是否正确

xukuanHIT commented 1 week ago

一般根据图像分辨率和双目baseline设置depth_lower_thr和depth_upper_thr，根据相机的标定效果设置max_y_diff

Alex-Beh commented 1 week ago

了解！请问你有在Hilti和NTU VIRAL DATASET上运行的config吗？

xukuanHIT commented 1 week ago

没有在这两个数据集上跑过