Nice job The KITTI 07 dataset is stereo, did you use the two images or single image for the ego motion? how can I run the example of Optical Flow and how to use the predefined camera calibration?
@matlabbe
7 жыл бұрын
It is stereo motion estimation.
@geoffreymouret46394 жыл бұрын
How do you manage to use images from the Kitti database ? I don't really understand how to configure RTAB-Map for Kitti datasets (or any dataset). In fact, I'm thinking about using RTAB for a personnal use involving a homemade dataset, so I wonder how to configurate it. Thanks in advance. Edit : I manage to configure the software but I wonder how I can export data (especially the pose's data). There is a database with raw data inside but the "pose" column is in binary and I don't know how to make it readable.
@matlabbe
4 жыл бұрын
The easiest way to export the poses is to do File->Export poses... in the format you want (raw 4x3 matrix, kitti format, rgbd-dataset format, g2o, toro...). This can be done in RTAB-Map or DatabaseViewer. If you want the raw poses, in RTAB-Map, do Download Graph->Not optimized, then File->Export poses... In DatabaseViewer, open GrpahView, and move the slider to select which optimization iteration you want to export (slider far left is odometry poses, no optimization)
@geoffreymouret4639
4 жыл бұрын
@@matlabbe I have another question : do you know how I can export the estimated map in an .obj file ?
@matlabbe
4 жыл бұрын
@@geoffreymouret4639 With File->Export Clods... you can export in OBJ file only when meshing and texturing options are enabled. Otherwise, it would be PCD (point cloud) or PLY (point cloud or meshing only, no texturing).
@geoffreymouret4639
4 жыл бұрын
@@matlabbe Ok Thanks ! I will try it, cause when I tried to export the map, I only had the camera location's points.
@ripleylee57264 жыл бұрын
WOW how did you manage to get that much fps
@matlabbe
4 жыл бұрын
Refer to Table 3 of this paper: introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf, the approach shown in this video is F2F (Optical flow between frame to keyframe).
Пікірлер: 12
Nice job The KITTI 07 dataset is stereo, did you use the two images or single image for the ego motion? how can I run the example of Optical Flow and how to use the predefined camera calibration?
@matlabbe
7 жыл бұрын
It is stereo motion estimation.
How do you manage to use images from the Kitti database ? I don't really understand how to configure RTAB-Map for Kitti datasets (or any dataset). In fact, I'm thinking about using RTAB for a personnal use involving a homemade dataset, so I wonder how to configurate it. Thanks in advance. Edit : I manage to configure the software but I wonder how I can export data (especially the pose's data). There is a database with raw data inside but the "pose" column is in binary and I don't know how to make it readable.
@matlabbe
4 жыл бұрын
The easiest way to export the poses is to do File->Export poses... in the format you want (raw 4x3 matrix, kitti format, rgbd-dataset format, g2o, toro...). This can be done in RTAB-Map or DatabaseViewer. If you want the raw poses, in RTAB-Map, do Download Graph->Not optimized, then File->Export poses... In DatabaseViewer, open GrpahView, and move the slider to select which optimization iteration you want to export (slider far left is odometry poses, no optimization)
@geoffreymouret4639
4 жыл бұрын
@@matlabbe I have another question : do you know how I can export the estimated map in an .obj file ?
@matlabbe
4 жыл бұрын
@@geoffreymouret4639 With File->Export Clods... you can export in OBJ file only when meshing and texturing options are enabled. Otherwise, it would be PCD (point cloud) or PLY (point cloud or meshing only, no texturing).
@geoffreymouret4639
4 жыл бұрын
@@matlabbe Ok Thanks ! I will try it, cause when I tried to export the map, I only had the camera location's points.
WOW how did you manage to get that much fps
@matlabbe
4 жыл бұрын
Refer to Table 3 of this paper: introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf, the approach shown in this video is F2F (Optical flow between frame to keyframe).
nice job can you share the code on GitHub?
@mathieulabbe4889
5 жыл бұрын
already there: introlab.github.io/rtabmap/
@chinhow1608
5 жыл бұрын
@@mathieulabbe4889 ok, i got it, Thank you!!