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HorizonAD / stereo_dso

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which dataset did you use? could you provide the link? #2

Open YiChenCityU opened 6 years ago

YiChenCityU commented 6 years ago

which dataset did you use? could you provide the link? Thanks.

JiatianWu commented 6 years ago

I used Kitti Odometry dateset: http://www.cvlibs.net/datasets/kitti/eval_odometry.php

marvis commented 6 years ago

Hi @JiatianWu. Is there big difference between grayscale images and color images when running the results? Thanks!

JiatianWu commented 6 years ago

Not exactly. Stereo DSO transforms color image to grayscale.

taiping-z commented 6 years ago

Hi, @JiatianWu.

How to calc disparity in Calibration File for the KITTI datasets, could you please provide a simple example or a link?

Thanks!

ouerkakaChango commented 6 years ago

@taiping-z try this for KITTI 00: 718.856 718.856 607.1928 185.2157 0 1241 376 crop 640 480 0.3861448 (The so called 'disparity' is baseline,I found the parameter in ORB-SLAM2's yaml,and divide 1000)

JiatianWu commented 6 years ago

Yes the disparity is actually baseline of the stereo camera. Already update it. Sorry for the ambiguity.

taiping-z commented 6 years ago

@ouerkakaChango, @JiatianWu, Thanks a lot.

ganleiboy commented 5 years ago

@ouerkakaChango Thanks a lot. I have made camera.txt, but i don't kown why dividing 1000 is needed. Could you explain it in detail, please?