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MarianoJT88 / PD-Flow

Real-time scene flow algorithm for RGB-D cameras
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Zero valued output for scene_flow_impair #12

Open richard5635 opened 4 years ago

richard5635 commented 4 years ago

Hi, I tested this code using MSVC 2017, and had a successful build. I tried testing this with two rgb and depth images each, obtained from KinectV2. Since their initial sizes were 512x424, I added extra lines of code to resize the images to VGA resolution (640 x 480).

RGB images are 8 bit and Depth images are 16 bit. Depth image's values are in millimeters, so they range between 1000 to 1500ish.

This is the output that I received. Basically the values of each output pixel is zero. 2019-10-10 (2)

Is there anything else I should do with the input? Any help would be appreciated.

Thanks!

MarianoJT88 commented 4 years ago

See that instructions say depth is expected to be scaled by a factor of 5000 (I think you applied a factor of 1000). But I am not sure this is the problem, you should just get a smaller depth flow...

To be honest I cannot help much, I haven't run this code for ages and what I could do is the same as you can do: debug it. Add logs: see how images are once passed to the GPU, check if the solver is stopping early without performing any iteration, things like that.

Sorry.

richard5635 commented 4 years ago

Thanks for the feedback! Will do so. :)

Do you still have the dataset you used on this algorithm by any chance? With that, I can make sure that either my dataset's depth value is problematic or I messed the installation somewhere.

MarianoJT88 commented 4 years ago

I have some of the images I used (and the results I got) here: https://www.dropbox.com/sh/lf0p6r74x1972t1/AACshZZDG-TAkrhbXC4mJ8RYa?dl=0

Let me know if you have problems to get the data.