Comments (4)
xuankuzcr
commented on September 17, 2024
感谢关注！因为本项目只关注于单相机-IMU-LIDAR的融合。如果要使用多个相机的话，需要同时使用所有相机测量，要解决耗时问题，即控制每帧需要align的图像块的个数。可以参考下Multiple camera SLAM。
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chenqi13814529300
commented on September 17, 2024
谢谢您的回答，最近我想用您出的slam数据跑3dgs，目前确实跑起来了，但是效果很差，我预计得到的image.txt和points3D.txt是错误的。
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chenqi13814529300
commented on September 17, 2024
我的points3D.txt的数据就是您的rgb_scan_all.pcd数据，我认为这个是基于世界坐标系下的。我的image.txt的位置+四元数 使用的是pos_log.txt的数据（我将欧拉角转换为四元数了），我认为这个pos_log是基于imu坐标系下的，我使用了extrinsic_T和extrinsic_R，其中的图片就是.bag读取得到的图片（1277张图像，但是pos_log是1264个记录，我很疑惑，我只是把最后13张图像删除了）构成了images.txt。可以在3dgs中运行，但是收敛速度很慢，7000轮，损失是0.25左右，希望可以得到您的回复，谢谢，我是个新手，这问题可能比较愚蠢。
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xuankuzcr
commented on September 17, 2024
应该是你的pose和image没对齐，差的13张应该是系统初始化时候的图像，你试试删除前面13张。另外检查下坐标系。
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Related Issues (20)
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