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AndreiBarsan / DynSLAM

Master's Thesis on Simultaneous Localization and Mapping in dynamic environments. Separately reconstructs both the static environment and the dynamic objects from it, such as cars.
BSD 3-Clause "New" or "Revised" License
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Cannot reproduce the result of ELAS #48

Open wj4y78308 opened 6 years ago

wj4y78308 commented 6 years ago

Hi,

Recently, I am interesting in your project and want to repeat it!

However, I face some problems about ELAS. (https://github.com/AndreiBarsan/libelas-tooling) I just repeat the code from above, but get different depth value!

The min value of my depth is -10 (I think it's because of the variable "kInvalidDepth" which is defined in elas.h.), but the min depth you provided (KITTI Odometry Sequence 06, which is used in demo) is 0. Also the max value is different.

I want to know how should I process the range of depth image! Thanks so much :)

AndreiBarsan commented 6 years ago

Hi wj4y78308, it's so awesome that you're interested! Which tool from the ELAS repository did you use for the preprocessing?

Did you use https://github.com/AndreiBarsan/libelas-tooling/blob/master/src/kitti2klg.cpp? This one should take care of the issue you described, in line 252, I believe.

wj4y78308 commented 6 years ago

OK! thank you so much! I will try it :)