gsorf / visual-gps-slam Goto Github PK

Thanks for this work.
My question might be a bit irrelevant to this.

I have created a simulated knee environment in Blender and for every frame, I have the depth, camera pose, and the rendered image. Using these three ingredients, I should be able to reconstruct the 3 point cloud and mesh of the environment using other approaches such as TSDF (https://github.com/andyzeng/tsdf-fusion-python). But that is not happening. Even though I put the correct camera matrix intrinsic (I think).

To cross check the Blender camera pose info, I used only the depth images and Kinect Fusion to estimate the camera pose and used the estimated camera pose info for depth image on TSDF and still it did not work. I tried the same approach (estimating the camera pose using Kinect Fusion) on the demo data of the TSDF and it worked (Kinect Fuseion-estimate pose + groundtruth depth). That means the Kinect Fusion could produce the correct camera pose info as good as groundtruth pose, to be used with TSDF. This narrows down the issue I have to the groundtruth depth that Blender produces.

My question is that, do I need to do any transformation on the depth images that Blender produces?
I see you are talking about making a conversion between the Camera Pose and the DSO. I wonder I might need to do the same to be able to get the TSDF algorithm working.

Hello, thank you for your open source work, I would like to ask you how to correctly integrate the dso trajectory with the gps trajectory, how to determine the scale of the dso system, is it through similar transformation, but I see that in your code is The fusion is done through linear Kalman filtering, so I would like to ask you how to ensure that the dso and gps tracks are fused at the same scale. Where is the specific implementation in your code, thank you

Dear, Adam!
Please tell, how you solve scale ambiguity problem and fuse GPS and SLAM data with different scale in Kalman filter?

Extra null pointer checks are not needed in functions like the following.

• AccumulatedSCHessianSSE
• EnergyFunctional::setAdjointsF
• PhotometricUndistorter

Hi! I am really interested in using your add-ons in Blender. When I install the add-on, it has the following error. Could you give me some hints about this?

The error occurs on：

Hi
I'm interested in your work on adding GPS measurements to DSO.
Is your code working properly? I saw many "todo" comments, and was wondering if the code is properly using GPs measurements now.
Thanx!

My master student just found two bugs in the ground truth generator script:

Both of these lines should not export poses in the DSO coordinate frame (dso_trans and dso_quat), but in the Blender frame (translation and orientation).

Thanks for the hint, D.W.!

Thank you very much。

Hello, I admire your ability to do such a great job. I am very interested in your work.
I want to reproduce it, but I don't have a Zed camera. I only have a monocular camera and a GPS module. Can this reproduce your work in real time? If possible, what should I do?