no Viewer of ORB-SLAM3

[2black0]

When running ros2 launch orb_slam3_ros2_wrapper unirobot_mono.launch.py from a successfully created Docker container without any errors, the ORB-SLAM3 viewer does not appear.

For xeyes, the Windows app can successfully appear on the host.

How do I fix this problem?

[xujingao13]

Thanks for your question.
Just changing the false to true will display the SLAM GUI.

TerraSLAM/orb_slam3_ros2_wrapper/src/mono/mono-slam-node.cpp

Lines 36 to 38 in eee662a

	bool bUseViewer;
	this->declare_parameter("visualization", rclcpp::ParameterValue(false));
	this->get_parameter("visualization", bUseViewer);

Currently, we mute the interface as it is typically running on a non-display server.

[2black0]

Hi @xujingao13 thanks for the previous answer, I have successfully followed the instructions and got the viewer for orb-slam3 to display

Then I have run everything following the instructions in the readme, but why does it give many tracking lost when running gui_client.py?

when not running gui_client.py looks normal, and orb-slam3 works without much tracking lost

is there any code in gui_client.py that needs to be changed or adjusted?

[2black0]

UPDATE

it turns out there is no need to publish the image because the GUI client has already fed the image to orb-slam3 so now it is working normally

I want to try this with my own data that I plan to capture with the DJI Mavic 2 Zoom. Do you have any suggestions or tips on what to do? And how do I create an .osa file like the one in the example data? Thank you.