Comments (4)
我也遇到了不能读入rviz文件的问题,可以告诉我你是怎么手动导入的吗?谢谢。
@qq1962572025 新打开一个terminal,输入rviz打开rviz,然后将global options里的Fixed Frame改成world,就可以正常接收显示发布的点云和路径信息了。
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you can open the rviz without any config file and then load the config file in the rviz window.
from densesurfelmapping.
you can open the rviz without any config file and then load the config file in the rviz window.
@WANG-KX 感谢您的回复!鉴于折腾了几天代码比较头疼这里直接用中文与你交流吧。
您给的KITTI00数据集我已经跑通了,上面提出的问题是由于rviz文件没法读入,所以只能手动录入了,感谢指导。然后这几天我想测试一下代码运行EuRoC数据集的效果,由于电脑没有GPU,所以没有用您分享的深度学习框架计算disparity image,用的是Ros里Dense_Stereo_Node的SGBM算法来得到双目disparity image,然后导入到建图算法中,大体框架如下:
Dense_Stereo_Node:Rosbag play EuRoC V101.bag,输出双目图像和disparity image
ORB_SLAM2: 接受双目图像,输出path,pose和回环时间戳
Surfel_Mapping: 接受左目和disparity image,path,pose和回环时间戳,运行程序建图。
现在ORB_SLAM2接收V101.bag的图像时首先会提示
cannot find the reference keyframe! time difference > 1000000000... 可能是因为rosbag play时间戳的问题,报错一次之后后面ORB_SLAM2程序是正常运行的,所以稍微调试后也没继续管。
Surfel_Mapping我是在rosbag play前打开的,但是输出后会各种报错,一些常见的log如图一所示。
通过输出KITTI00数据集学习出的深度值和Dense_Stereo_Node匹配出的视差转成深度,可见数量级相差很远。KITTI00 depth image像素点深度值在几千到几万。
而双目匹配恢复出的深度值量级很小,基本相差了四五个数量级,我乘以100000后显示如图二所示,已经转成了cv::MAT 32FC1格式。
所以我想首先解决深度图的问题。通过MVDepthNet训练出的disparity image需要rescale吗?我看代码,计算出local_surfel后再与near_distance和far_distance比较(代码给出是0.5m和30m,rviz来看kitti街道宽度也差不多是10m尺度),所以双目匹配恢复出的深度如何scale呢?还望指教。
如果github上交流不方面的话,也可以邮件交流,我的邮箱是[email protected]。
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我也遇到了不能读入rviz文件的问题,可以告诉我你是怎么手动导入的吗?谢谢。
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Related Issues (20)
- NO superpixel norm HOT 7
- The question about vins-supported HOT 1
- problem when running on the ICL-NUIM dataset
- the problem about using my own camera for reconstruction HOT 4
- How to evaluate HOT 2
- About "Surfel_fusion" and "Kitti publisher" HOT 1
- Using SGM HOT 2
- 可以给个联系方式吗,代码跑起来有一些问题
- where does the depth information come from in VINS-MONO-SUPPORT? HOT 2
- vins版本,同时运行vins_mono和DenseSurfelMapping的时候效果很差 HOT 3
- 感觉用自己的数据集建图效果没Voxblox好 HOT 1
- kitti dataset link : 404 HOT 1
- Some data HOT 2
- Can not open ,ply file
- can not download data HOT 1
- Run with RGB-D dataset
- Can it work with just RGBD input and camera poses offline
- Question about dataset of DenseSurfelMapping HOT 2
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- The problem of the build effect on tum dataset
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