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silencht / SG-SLAM

SG-SLAM: A Real-Time RGB-D Visual SLAM toward Dynamic Scenes with Semantic and Geometric Information
GNU General Public License v3.0
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Can't get pointcloud map or semantic map via AstraPro camera #22

Closed Cooo1der closed 6 months ago

Cooo1der commented 9 months ago

Thank your for your excellent work! Howerver, when I ran the project code with my AstraPro camera, I was unable to create point cloud map or semantic map. Coud you please give some advice to solve these problems? It bothers me for a long time...

Here are some of my main outputs: 1. roslaunch astra_camera astra_pro.launch SUMMARY

PARAMETERS

NODES /camera/ camera (astra_camera/astra_camera_node)

**2. ./run_astra_pro_camera.sh is map construction consider dynamic: 1 is global pointcloud reconstruction: 1 is octomap semanticObject map construction: 0 camera_valid_depth_Min is 0.5 camera_valid_depth_Max is 5 Sor_Local_MeanK is 50 Sor_Local_StddevMulThresh is 2 Voxel_Local_LeafSize is 0.01 Sor_Global_MeanK is 50 Sor_Global_StddevMulThresh is 3 Voxel_Global_LeafSize is 0.01 Detector3D_Sor_MeanK is 50 Detector3D_Sor_StddevMulThresh is 1 Detector3D_Voxel_LeafSize is 0.01 Detect3D_EuclideanClusterTolerance is 0.02 Detect3D_EuclideanClusterMinSize is 1000 Detect3D_EuclideanClusterMaxSize is 30000 Detect3D_DetectSimilarCompareRatio is 0.1 global_pc_update_kf_threshold is 25 Start PointCloudMapping Viewer...

Camera Parameters:

ORB Extractor Parameters:

Depth Threshold (Close/Far Points): 2.65909

detection_confidence_threshold is 0.99

dynamic_detection_confidence_threshold is 0.05 Detector2D Thread start ... New map created with 794 point Screenshot from 2023-12-26 16-17-53

silencht commented 9 months ago

If the dataset works well, please check:

Cooo1der commented 9 months ago

Thank you for your reply. I tried to recalibrate the internal parameters of the camera, but I found that each time my calibration results were different, even sugnificantly so. Do you know what might be the reason?

silencht commented 9 months ago

I think the correct cx, cy should be around half of the width and height of the image. you can find more informations at these websites:

Cooo1der commented 9 months ago

I think the correct cx, cy should be around half of the width and height of the image. you can find more informations at these websites:

May I ask how the topic /camera/depth_registered/img_raw was generated? The topic of my camera is only /camera/depth/img_raw. Will this affect the construction of the image

silencht commented 9 months ago
  • Subscribe to appropriate depth image topics: I was running OK with the TUM dataset, but once I ran actual (Orbbec) hardware RGBD camera on ROS would fail. I eventually found that the problem was localised to the ROS subscription camera node, the depth image I subscribed to had been /camera/depth_registered/image_raw, and the problem solved after I switched to /camera/depth/image_raw.

This suggestion is only for certain cameras, such as the LeTMC520 camera (actually a cased version of the astra pro) I use. These websites below is when I use LeTMC520 camera reference.