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Published 20 hours ago • verified publisher icon VIS4ROB-lab

problem about parameters configuration

Open flyover-26 opened this issue 2 years ago • 3 comments

hi!I noticed in your paper the number of KFs in local map is set to 50 and parameters k (number of KFs sent from server to agent to augment local map) is set to 5. However,in config.yaml ,I noticed that Comm.Server.KfsToClient is set to 0. Should this parameter set to 5? Looking forward to you reply!

flyover-26 avatar Jun 22 '22 05:06 flyover-26

Which value you choose for this parameter depends a bit on the bandwidth of your wireless connection, but you can set it to 5, yes. We might have set it to 0 it for some experiment in the past.

patriksc avatar Jun 26 '22 13:06 patriksc

thank you for your reply. When I set this parameter to 5 in stereo version ,I got a problem. ( !!!!! FATAL ERROR !!!!! EstablishInitialConnectionsClient335Constructing MP & is already associated to KF KF-ID: 99|1 --- this MP-ID: 52054|1 --- comp. MP-ID: 52054|1 (pMP = shared_from_this()): 0

) I am not sure why this hanppend.Could you please offer some reasons?thank you so much.

By the way,will this parameter has a huge difference to system's stability if set to 5?

flyover-26 avatar Aug 01 '22 04:08 flyover-26

Do you get the same problem when using the mono version? CCM-SLAM is meant to be used in monocular mode, we have never tested with the stereo version.

patriksc avatar Dec 31 '23 15:12 patriksc

Closing for now - please re-open if the issue is still present.

patriksc avatar Apr 28 '24 11:04 patriksc