search

alexklwong / void-dataset

Visual Odometry with Inertial and Depth (VOID) dataset
Other
119 stars 9 forks source link

Scale factor of stored depth maps #4

Closed muskie82 closed 3 years ago

muskie82 commented 3 years ago

Thank you very much for sharing your work.

In issue #1, you mentioned depth values are in millimeters and need to divide 1000 to get a metric scale, but I think the scale is still incorrect. For example, in office0/image/1551915398.6757.png, the depth value around a room corner is approximately 700~750mm in the stored depth map, but there must be more than 1 meter considering the sofa size.

image

Also, when I visualize office0/image/1551915398.6757.png and office0/image/1551915399.9445.png as a 3D point cloud using gt depth and absolute pose, I can see a clear misalignment of 2 depth maps which should be coming from the wrong scale factor.

Do you have any idea?

image

muskie82 commented 3 years ago

Sorry, I opened this issue twice by mistake. I will close this one.