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License: Other
Cube SLAM 个人注释版
License: Other
请教一个问题,在mono.launch中有设置能否输出最后的结果,我将他们设置为true,为什么仍然没有结果输出?
您好,打扰了。请问您是如何将cube slam加入orb slam的呢?作者发布了一个结合orb slam版本,似乎是读取已有的三维检测结果直接用pangolin绘制出来,但是却没看懂代码是在哪一部分实现的。您能否提供一下您实现的cube slam加入orb slam的代码或者是思路呢?非常感谢您。
不好意思打扰了,我是个初学者,且最近刚着手用cubslam测试kitti数据集,请问对用于函数detect_cuboid_obj.detect_cuboid(raw_rgb_img,transToWolrd,raw_2d_objs,all_lines_raw, frames_cuboids);
的四个输入参数,图片,transToWolrd,bbox坐标以及线检测结果中的transTowolrd如何传入数据?如果用的是相机pose,请问这个pose如何得到?通过orbslam估计吗?如果是再请问是哪个输出的文件?
谢谢!
计星武
请问下遇到 shichaoy/cube_slam#30 这样的问题应该如何解决呢
您好,想向您请教一下
detect_3d_cuboid模块计算物体的位姿过程中,transToWolrd 我用作者硬编码的数据 能算出来kitti05 kitti07 第一帧物体的位姿,并能投影到图片上,只不过偏差大一点。 但是transToWolrd <<1, 0, 0, 0, 0, 0, 1, 0, 0, -1, 0, 1.7, 0, 0, 0, 1; 反而最后图片上并没有画出来该物体。
在这个过程中,我还根据yaml文件将Kalib << 707.0912, 0, 601.8873,
0, 707.0912, 183.1104,
0, 0, 1.0000; 改成这个了
但是看大家都用绕x轴转-90° 作为transToWolrd 并没有出现我这个问题,我弄不明便,所以想来请教一下
非常感谢!
您好,3D 物体目标生成的代码是那一块呢?
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