My map is too small about mono-vo HOT 21 CLOSED

Hmm. You did not face this issue with any of the other sequences?

from mono-vo.

I have been tested on 3 sequences (00, 11, 12). All of them are the same problem. I think this issue rises from getAbsoluteScale function. I try to find the groundtruth in your report on the internet but no result. Can you give it to me, i will test again.

from mono-vo.

This is a fairly old project for me, and I don't have any data with me anymore. There's probably an issue in the way you are printing the calculated trajectory. Do you use t_f.at<double>(0) and t_f.at<double>(2)?

from mono-vo.

Yes, i have uncomment this line
myfile << t_f.at<double>(0) << " " << t_f.at<double>(1) << " " << t_f.at<double>(2) << endl;
to store calculated trajectory in txt file.

from mono-vo.

Try printing out the values returned by the getAbsoluteScale function. They should be in the ~1m range while the vehicle is moving. If they aren't, then there is something incorrect there.

It's surprising that this is happening, it worked on my system as far as I can remember.

from mono-vo.

This is my log:

Scale is 0.179389
125
Scale is 0.180999
126
Scale is 0.178401
Number of tracked features reduced to 1855
trigerring redection
127
Scale is 0.179787
128
Scale is 0.179718
129
Scale is 0.179596
130
Scale is 0.179492
131
Scale is 0.181502
132
Scale is 0.179042
133
Scale is 0.179856

:(

from mono-vo.

So there's something definitely wrong here. Check if you have filled in this value correctly:
ifstream myfile ("/home/avisingh/Datasets/KITTI_VO/00.txt");

from mono-vo.

Also, did you pay attention to this
// WARNING: different sequences in the KITTI VO dataset have different intrinsic/extrinsic parameters
double focal = 718.8560;
cv::Point2d pp(607.1928, 185.2157);

from mono-vo.

in ifstream myfile ("/home/avisingh/Datasets/KITTI_VO/00.txt"); i inserted times.txt of my test sequence.
and parameters double focal = 718.8560; cv::Point2d pp(607.1928, 185.2157); I didn't find the parameters for my test sequence, so i didn't change it. Can you show me how to find it?

from mono-vo.

There's your issue. You must insert the ground truth file there, since it extracts the scale information from the ground truth (I mention this in the blog post and the report).

from mono-vo.

Sorry for my mistake, I will correct it and report again. Many thanks for your support :)
One more, Nister 's 5point algorithm is too difficult to understand :D

from mono-vo.

Closing this now, you can open it if you're unable to fix it.

from mono-vo.

Hi,
I think with different sequence I have to change algorithm of getAbsoluteScale function. Call you tell me the ideal how to change it? My ground truth sample is following:
11.txt

While i change t_f = t_f + 0.78*(R_f*t); and the result:

thanks.

from mono-vo.

No, you don't have to change it. You must provide the ground truth files in the KITTI format (12 columns), and it will work.

from mono-vo.

Yes, I found an ground truth file on KITTI 's website, and it worked charm 💯
But i have another question, with ground truth file below, how to plot ground truth and trajectory?
My ground truth file:
00.txt
My gnuplot script is below, but it not work correctly :( .

set term postscript eps enhanced color
set output "11.eps"
set size ratio -1
set xrange [-321:313]
set yrange [-28:606]
set xlabel "x [m]"
set ylabel "z [m]"
plot "11.txt" using 1:2 lc rgb "#FF0000" title 'Ground Truth' w lines,"11.txt" using 3:4 lc rgb "#0000FF" title 'Visual Odometry' w lines,"< head -1 11.txt" using 1:2 lc rgb "#000000" pt 4 ps 1 lw 2 title 'Sequence Start' w points

Thanks.

from mono-vo.

Please answer my questions :(

from mono-vo.

I do not use GNU plot, cannot help you there. However, I don't think you should use the first two columns for the x, y values. It should more like 1st column, 5th column, 9th column or something like that for x,y,z

from mono-vo.

:( how to you plot your trajectory in your report? Please give me some advice?

from mono-vo.

I used MATLAB to plot it.

from mono-vo.

Yes, can you give me the matlab file? With orginal ground truth file i have no ideal to plot it, i try to use gnuplot but failed :(

from mono-vo.

Help me, please :(

from mono-vo.