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thien94 / orb_slam3_ros

A ROS implementation of ORB_SLAM3
GNU General Public License v3.0
261 stars 81 forks source link

Current Frame only processes part of the image #24

Open PhilShaw852 opened 9 months ago

PhilShaw852 commented 9 months ago

I am new to ros / slam. I am using orb_slam3 with a DJI Tello on ROS-Noetic.

I have most of it working, the one problem I have is that the full frame is not being processed for feature points.

I'm clearly missing something in a config but can't for the life of me see it.

Screenshot 2023-11-16 at 9 52 38 AM

I'd appreciate any help.

thien94 commented 7 months ago

Hi @PhilShaw852 , sorry for the late reply.

Most likely, the issue is the parameters in the configurations file. Specifically, the parameters that relate to the ORB feature descriptor might need to be adjusted in order to generate more features or allow for more robust tracking of the features. You can read the comments in the config file for some suggestions on how to tune them, but right now it is frankly a manual process and you need some trial and error to find the best settings.

jonaug88 commented 5 months ago

I am new to ros / slam. I am using orb_slam3 with a DJI Tello on ROS-Noetic.

I have most of it working, the one problem I have is that the full frame is not being processed for feature points.

I'm clearly missing something in a config but can't for the life of me see it.

Screenshot 2023-11-16 at 9 52 38 AM

I'd appreciate any help.

I dont know if you have solved this issue already. However, i had the same issue when i first started out myself. Calibrating the camera and updating the calibrating.yaml file you use might solve the issue for you, it did for me atleast.