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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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XML format for ELAS depths? #51

Closed twadleigh closed 5 years ago

twadleigh commented 6 years ago

I am trying to preprocess some extra KITTI odometry sequences for DynSLAM. I've gotten so far as to be able to generate the dispnet-based depths and the MNC-based semantic segmentation masks, and can run DynSLAM with the right combination of flags.

I'd like to be able to also generate and use ELAS-based depths. I have cloned https://github.com/AndreiBarsan/libelas-tooling and have been able to get to the point where I can have kitti2klg create a directory of .ppm and .pgm files. However, it appears that DynSLAM expects to find the ELAS depths in an XML format.

I have combed through the various processing scripts to find clues for the right way to perform that last step of the conversion, but haven't found anything. Any hints?

AndreiBarsan commented 5 years ago

These were generated using OpenCV's FileStorage interface which writes XML. See: https://docs.opencv.org/2.4/modules/core/doc/xml_yaml_persistence.html