Closed RobbyHuang closed 3 years ago
Hi, @RobbyHuang . I think this is due to the invalid pixels in the depth image. A possible solution is to refine the depth image.
Hi,@hlwang1124 Thanks for your reply. Have you tried to use the SNE module to convert the depth image produced by the camera to normal? I found the same problem, when I convert the depth image produced by intel Realsense D435i to normal. Have you tried to refine the depth image? Can you recommend some related algorithms? Thanks!
Yes, I tried using the SNE module to convert Intel RealSense depth images to the corresponding surface normal, as shown here. Although there also exist invalid pixels, I found that they have little influence on the drivable area and road anomaly detection. Therefore, I have not tried to refine the depth image.
Tanks for your sharing!
I try to use the SNE module to produce a normal image from a depth, but It seems that the quality of the result is not good. The depth image I used is from the YCB_Video.
Could you give me some advice?Thanks!