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vins版本，同时运行vins_mono和DenseSurfelMapping的时候效果很差 #43

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lushengyao opened this issue Apr 9, 2021 · 3 comments
Open

vins版本，同时运行vins_mono和DenseSurfelMapping的时候效果很差 #43

lushengyao opened this issue Apr 9, 2021 · 3 comments

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@lushengyao
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当我单独运行vins_mono的时候vins的效果是正常的，但是当我把vins_mono和surfelMapping同时开启的时候效果非常的差。vins几乎失效了，vins很难进行初始化，即使初始化成功后很快也会失效需要重新初始化。两者同时开启后vins计算不出我行走的轨迹，rviz中的摄像头模型基本就在原点附近飘动。

一开始我怀疑是我的电脑配置的问题，我把vins和surfelMapping分开到两台电脑中运行。一台电脑单独运行vins的时候是没问题的，当另一台电脑开启了surfelMapping订阅vins发出的话题时效果和我前面说的一样vins的效果变得了很差，几乎无法使用了。
@WANG-KX
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WANG-KX commented Apr 9, 2021

这个问题确实很奇怪, 我一时也不知道什么能导致这个问题. 请问你电脑配置是什么呢?
你有试过先跑vins, 录成rosbag再单独起 surfel__mapping 应该能排除 vins 的影响吧.

@lushengyao
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我的电脑配置 cpu i5 8250u 8核 1.60Ghz

@lushengyao
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@WANG-KX 我的电脑配置 i5 8250u 8核 1.60Ghz

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@WANG-KX @lushengyao