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Comments (9)

HJMGARMIN avatar HJMGARMIN commented on August 12, 2024

I have changed the vocabulary file from txt to bin. Therefore, please use "./Vocabulary/ORBvoc.bin"

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CoderDoubleTen avatar CoderDoubleTen commented on August 12, 2024

thanks!!!

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CoderDoubleTen avatar CoderDoubleTen commented on August 12, 2024

jieguo
请问我运行结果怎么只有这两个窗口，而且没有剔除掉动态点，好像就是原本的orb-slam3的效果，请问原本的运行结果是什么呢？谢谢

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HJMGARMIN avatar HJMGARMIN commented on August 12, 2024

看一下你yaml文件，里面设置了是否去除动态和稠密建图的开关

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CoderDoubleTen avatar CoderDoubleTen commented on August 12, 2024

请问一下是哪个yaml文件呢？我只使用了TUM3.yaml,里面也没有发现控制开关呀

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HJMGARMIN avatar HJMGARMIN commented on August 12, 2024

OVD-SLAM/Examples/RGB-D/TUM3.yaml

Line 71 in afca45d

UseDynamic: 0

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CoderDoubleTen avatar CoderDoubleTen commented on August 12, 2024

非常感谢！谢谢！！！

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CoderDoubleTen avatar CoderDoubleTen commented on August 12, 2024

请问一下按照你的源码，我xyz数据集跑出来的std 为0.010，rmse为0.018.跟你论文的实验数据差了不少，请问能帮我分析一下是什么原因吗？谢谢

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HJMGARMIN avatar HJMGARMIN commented on August 12, 2024

需要调参的，特征点数量等等各种参数都会影响，而且我发布的代码为在原始ORB-SAM3的基础上进行修改的，并没有根据论文的源代码刻意调整参数，而且因为项目协议的问题并不能发布全部代码，只能给出一个相近的实现思路

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