Comments (2)
Hi, thanks for your interest in our work!
The related issue might be helpful.
For TUM-RGBD evaluation, we run vMAP and ORB-SLAM-ros-wrapper online by playing TUM-RGB-D rosbag.
The suggested steps are as follows:
- Set up ORB-SLAM and make sure vMAP can get the correct frame poses from it.
- Run Instance Segmentation + 3D data association or simply run Video Segmentation e.g. XMem to get associated object masks.
- Prepare rgb, depth, mask, pose offline and run vMAP, or run vMAP online by running ORB-SLAM online via ROS.
- I would suggest running iMAP mode or TSDF-Fusion first to check if the data is correct (e.g., intrinsics, camera pose, depth scale).
Hope it helps!
from vmap.
Ok I got the steps roughly, I'll keep trying to test it on TUB-RGBD!Thank you so much!
from vmap.
Related Issues (20)
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- data generation for other replica scenes HOT 6
- Depth L1 results: Table C in Supplementary Material HOT 1
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- vis script
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from vmap.