search

thien94 / orb_slam3_ros_wrapper

A ROS wrapper for ORB-SLAM3. Focus on portability and flexibility.
176 stars 79 forks source link

Saving and Loading Map Functionality #27

Closed cela-s closed 1 year ago

cela-s commented 1 year ago

Thank you for creating this easy to use ROS wrapper.

I'm having difficulties loading maps. When trying to save, I click the stop button on GUI that calls the shutdown function to save the trajectories and save the map as a .osa file in Atlas. This seems to work as when I check the ~/.ros directory the camera trajectory and Key Frame trajectories are saved along with the .osa file, but when I run another session it always creates a new map from scratch and never loads the .osa file.

altas_parameters

ros_dir

I get the following two errors:

error1

error2

Is anyone else experiencing this issue or is the save/load feature working for you?? If it works for you please let know if you've made any changes to the code. I've also tried not using the wrapper and running ORBSLAM on the terminal but I get the same issue. Thank you in advance.

thien94 commented 1 year ago

Hi @cela-s , thanks for checking out the package.

The Save/Load map functions of ORB-SLAM3 are known to be unstable. See here for the changes https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/443 (unfortunately I don't remember which ones are the essential parts) There are some forks that have incorporated the fixes and even improved upon the original, you should check them out as well: https://github.com/Soldann/MORB_SLAM/issues/5 https://github.com/viamrobotics/ORB_SLAM3/pull/4