UZ-SLAMLab
Monocular ORBSLAM3 with D345 in REAL TIME
Hello, I would like to launch the algorithm but in real time, not reading one folder with frames.
Does anyone know the correct modications of the script "mono_euro.cc" ?
Regards
hello,
I'm replying because I thought it might be helpful if I could confirm that the camera you are using is the D435 and not the D345.
The D435 is an RGB-D camera, so you should use rgbd_realsense_D435i, not mono_euro.cc.
Best Regards
I'm using D435 without IMU module.
If I'm not wrong the problem is the same because rgbd_realsense doesn't use frames in real time.
Right ?
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From: minsoo_is_confused @.> Sent: Friday, September 22, 2023 11:20:03 AM To: UZ-SLAMLab/ORB_SLAM3 @.> Cc: EDUARDO QUEVEDO DUEÑAS @.>; Author @.> Subject: Re: [UZ-SLAMLab/ORB_SLAM3] Monocular ORBSLAM3 with D345 in REAL TIME (Issue #812)
hello,
I'm replying because I thought it might be helpful if I could confirm that the camera you are using is the D435 and not the D345.
The D435 is an RGB-D camera, so you should use rgbd_realsense_D435i, not mono_euro.cc.
Best Regards
— Reply to this email directly, view it on GitHubhttps://github.com/UZ-SLAMLab/ORB_SLAM3/issues/812#issuecomment-1731095138, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AZEJCY2O6T66C3BJELG4X6DX3VJ4HANCNFSM6AAAAAA46BR5EI. You are receiving this because you authored the thread.Message ID: @.***>
I'm actually using the D435 and D435i on ROS. Of course, I'm doing real-time processing.
Before using ORB-SLAM3, I was successful with ORB-SLAM2 to run SLAM mode in real-time on a non-ROS version with a D435.
If you are using ROS, the issue with Frame can be resolved through TF.
Additionally, as far as I know, using Examples/RGB-D/RealSense_D435i.yaml should solve your problem.
Finally, if you are also considering running on ORB-SLAM2, I would be grateful for any additional responses.
I'm not using ROS, I don't have problem using Orbslam2 or 3 because I would like to use the algorithm in real time.
Enviado desde Outlook para Androidhttps://aka.ms/AAb9ysg
From: minsoo_is_confused @.> Sent: Friday, September 22, 2023 11:52:54 AM To: UZ-SLAMLab/ORB_SLAM3 @.> Cc: EDUARDO QUEVEDO DUEÑAS @.>; Author @.> Subject: Re: [UZ-SLAMLab/ORB_SLAM3] Monocular ORBSLAM3 with D345 in REAL TIME (Issue #812)
I'm actually using the D435 and D435i on ROS. Of course, I'm doing real-time processing.
Before using ORB-SLAM3, I was successful with ORB-SLAM2 to run SLAM mode in real-time on a non-ROS version with a D435.
If you are using ROS, the issue with Frame can be resolved through TF.
Additionally, as far as I know, using Examples/RGB-D/RealSense_D435i.yaml should solve your problem.
Finally, if you are also considering running on ORB-SLAM2, I would be grateful for any additional responses.
— Reply to this email directly, view it on GitHubhttps://github.com/UZ-SLAMLab/ORB_SLAM3/issues/812#issuecomment-1731139567, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AZEJCY6BEXSJISQO6YLRYXDX3VNXNANCNFSM6AAAAAA46BR5EI. You are receiving this because you authored the thread.Message ID: @.***>
So I'll ask the question from a different perspective.
Did you run build.sh as described in READ.md to complete the build?
Have you tested the sample using a dataset like EuRoC?
If you do these things in that order, you should be able to get your bearings!
Good luck!
Yes the algorithm works,
Furthemore I've captured frames and timestamps from the d435 and I've stored theme in frames and I've launched the algorithm.
Now I would like do the same but in real time
Enviado desde Outlook para Androidhttps://aka.ms/AAb9ysg
From: minsoo_is_confused @.> Sent: Friday, September 22, 2023 8:20:26 PM To: UZ-SLAMLab/ORB_SLAM3 @.> Cc: EDUARDO QUEVEDO DUEÑAS @.>; Author @.> Subject: Re: [UZ-SLAMLab/ORB_SLAM3] Monocular ORBSLAM3 with D345 in REAL TIME (Issue #812)
So I'll ask the question from a different perspective.
Did you run build.sh as described in READ.md to complete the build?
Have you tested the sample using a dataset like EuRoC?
If you do these things in that order, you should be able to get your bearings!
Good luck!
— Reply to this email directly, view it on GitHubhttps://github.com/UZ-SLAMLab/ORB_SLAM3/issues/812#issuecomment-1731860999, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AZEJCY6VE22GSRXL5CIKN7DX3XJGVANCNFSM6AAAAAA46BR5EI. You are receiving this because you authored the thread.Message ID: @.***>
I apologize for the delay in responding.
When you say the algorithm works, do you mean you ran the sample data?
Additionally, I would like to ask, what code did you run ORB-SLAM with in the terminal?