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Huangying-Zhan / DF-VO

Depth and Flow for Visual Odometry
https://df-vo.readthedocs.io
MIT License
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About find_scale_from_depth inputs #14

Open DanRos22 opened 4 years ago

DanRos22 commented 4 years ago

https://github.com/Huangying-Zhan/DF-VO/blob/e9d91bad0fe4db84030511715718b53d40fe593f/vo_modules.py#L766-L768 Why the depth map is taken from current sample (self.cur_data['depth']), and not taken from reference? According to function definition and implementation in https://github.com/Huangying-Zhan/DF-VO/blob/e9d91bad0fe4db84030511715718b53d40fe593f/vo_modules.py#L582 the depth should correspond to kp2 (which is ref), and not to kp1 (cur). What am I missing? Thanks for this work!

Huangying-Zhan commented 4 years ago

Hi @DanRos22 , sorry for late reply. Please refer to the previous issue #7 . Simple explanation will be: cur_data[self.cfg.translation_scale.kp_src] actually stores kp_ref while ref_data[self.cfg.translation_scale.kp_src][ref_id] stores kp_cur. The reason is mentioned in #7