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JakobEngel / dso

Direct Sparse Odometry
GNU General Public License v3.0
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How to initialize DSO with perfect depth? #178

Closed Masahiro1002 closed 5 years ago

Masahiro1002 commented 5 years ago

Hello! I try to compare the trajectory of DSO with another method now. I would like to initialize dso with the same scale of the other method using depth map generated by the other method. I changed the line 1250 in initializeFromInitializer, FullSystem.cpp. ph->setIdepthScaled(point->iR*rescaleFactor); -> ph->setIdepthScaled(1/perfect_depth); But the scale is not seemed to be correct. This is the compared trajectories of tum monocular trajectory dataset sequence 32. Red trajectory is DSO and Green Trajectory is the other.

capture

Do you have any idea? Thank you.

Masahiro1002 commented 5 years ago

I found the solution by referring this project. CNN DSO https://github.com/muskie82/CNN-DSO