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zhangganlin / GlORIE-SLAM

GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM
https://ganlinzhang.xyz/GlORIE-SLAM/
Apache License 2.0
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run with custom datasets #3

Closed cv-lab-x closed 3 weeks ago

cv-lab-x commented 1 month ago

hi, thanks for your great work, could your give some advices or configs to run with custom datasets ? Looking forward to your reply, thansk. @zhangganlin

zhangganlin commented 1 month ago

Hi,

For custom datasets, you can check the configs of ScanNet and TUM-RGBD, since both of these datasets are real world datasets, they should be similar to the custom datasets' setting (remember to change the intrinsic parameters).

Also, You can try with the only_tracking setting first to make sure to adjust the parameters of the tracker to a proper state. For the mapper, there is no need to adjust much.

Personally I haven't tried with custom datasets but I think it would not be much different for the config. Let me know if there are other issues.

Best Ganlin