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SAMMiCA / ChangeSim

A multi-modal, photo-realistic dataset for online end-to-end scene change detection and more (accepted to IROS2021).
MIT License
105 stars 14 forks source link

RGBD frames #3

Open Mehdi925 opened 2 years ago

Mehdi925 commented 2 years ago

Hello,

Do you plan to, or could you provide raw images for the Query Sequences ? I noticed that the depth values were mapped from 0 to 255 and you didn't include the real distance values (in mm) for the Query Sequence frames. Indeed, it is hard to make 3D reconstructions for the Query Sequences with mapped distance values.

Thanking you in advance for your response.

coledea commented 10 months ago

In cloud_to_img.py line230 it becomes clear that the maximum depth is 50 meters. You can use this to map the normalized values back to real distances. However, the depth images seem to have banding artifacts that make an accurate 3D reconstruction difficult (see the attached depth image + side-view onto the reconstruction). Also, I wasn't able to consistently align the single images using the given poses. depth side-view on reconstructed point cloud