search

MIT-SPARK / Kimera-Semantics

Real-Time 3D Semantic Reconstruction from 2D data
BSD 2-Clause "Simplified" License
633 stars 134 forks source link

Where to set the depth factor? #28

Closed zhaozhongch closed 4 years ago

zhaozhongch commented 4 years ago

I create a rosbag that contains the information needed for a dense reconstruction such as camera intrinsic, depth image, gray image, tf and tf_static. I disable semantic reconstruction, just try to do dense reconstruction. The reconstruction doesn't look very good. 3d_reconstruction

The first thing come to my mind the depth factor. The depth factor of my dataset is 5000 like TUM rgbd dataset. But I cannot find a parameter relates to that in the launch file or in the program... Could you please tell me where is that parameter?

zhaozhongch commented 4 years ago

The depth factor is one, which means your input depth image needs to have the real-world depth measurement