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alexklwong / void-dataset

Visual Odometry with Inertial and Depth (VOID) dataset
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Usage of d435i #9

Open styygaoo opened 1 year ago

styygaoo commented 1 year ago

Hi,

Thank you very much for your work.

Regarding using d435i, can you tell me what post-processing procedures you did to improve the quality of records? I am also using the same camera, but my records have some noise or black holes.

alexklwong commented 1 year ago

Hi, it has been a while so I don't recall all the details. My impression was that we used the factory calibration settings and directly read from the RealSense through ROS using cvbridge.

styygaoo commented 1 year ago

Thanks for your replay. It means that you did not use any post-processing methods, right?

I am wondering about if I should directly use the depth imgae only after alignment although they are not good as I expected.

here are two examples: depth_00200 color_00200 the above one can be accepted.

depth_00350 color_00350 This one is relatively bad.

Could you give me some advice? Many thanks in advance