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I am having trouble reproducing your depth pointcloud results. #18
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Hi, |
Thanks for your reply. |
Hello. @Peize-Liu |
Hello. @Peize-Liu I was able to output my expected point cloud using “quadcam_7inch_n3_2023_1_14/eight_noyaw_1-sync.bag” and “quadcam_ri_sep/quadwalk_around_2-sync.bag”. The reason for the incorrect point cloud output as in my previous post was due to the following items.
I think that the difference in image sequence between D2SLAM and OmniNxt has affected this part of the process. Also, I continue to look forward to receiving new calibration files and OmniNxt datasets from you. Best regards. |
Hello, @Peize-Liu . |
@akira-akp Did you managed to resolve the upside down issue? |
Thank you for your repository!
I have a problem when I run the code.
I think that I I think that by using this repository and this dataset, I can get depth pointcloud and SLAM trajectories like in this video(https://www.youtube.com/watch?v=IOuJ7Y6dpeY).
However, when I run it, I get the following pointcloud results, which are not what I am able to reproduce.
Is this the correct combination of rosbag recording data and calibration data I should be using?
If it is incorrect, I would like to know the correct combination.
Additionally, I would like to know if there are any changes in the source code that need to be made to reproduce the data.
Also, is it correct that the aruducam photos in the rosbag recording data are upside down?
branch: pr_fix_main(https://github.com/HKUST-Aerial-Robotics/D2SLAM.git)
model file: hitnet_1x240x320_model_float16_quant_opt.onnx
engine file: hitnet_1x240x320_model_float16_quant_opt.trt
data set DL link: https://hkustconnect-my.sharepoint.com/:f:/g/personal/pliuan_connect_ust_hk/EhrnbPJoptRGvYhsa3P6KUIBscF9NArlttBNUqCaTvzsyw?e=QChj0X
using calibration file: quad_cam_calib-camchain-imucam-7-inch-n3.yaml
rosbag data: quadcam_7inch_n3_2023_1_14/eight_noyaw_1-sync.bag
rosbag data: quadcam_ri_sep/quadwalk_around_2-sync.bag
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