Problem with the 3D reconstruction when I rotate the camera view.

[sanbuddhacharyas]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

When I perform translation everything is fine 3d reconstruction is also perfect but when I rotate the agent then the environment is elongated and therefore my whole 3d reconstruction results overlappe with each other.

https://user-images.githubusercontent.com/33871656/165308271-b639cb74-881d-4ea0-9667-a6b712d0af2f.mp4

You can see in the video, that at the beginning, I only used translation and everything was fine but when I rotate the camera everything is overlapped and 3D reconstruction doesn't work well. When I translate the camera in (X, Y, Z) direction there is no problem

[theNded]

Could you please try to increase depth_max to like 5 or more? From the view it looks like the content is far away and might have been truncated in tracking.

[sanbuddhacharyas]

Could you please try to increase depth_max to like 5 or more? From the view it looks like the content is far away and might have been truncated in tracking.

@theNded Actually what happens is that when I use translation in X, Y, Z direction there is no any problem. When I revisit the same place there is no any problem as soon I rotate the camera the environment gets overlap and the corners are not perfectly 90 it will be either 60 or less than that. but the reconstruction is not perfectly square. Is the problem due to intrinsic parameter??

[Amayess]

hi @sanbuddhacharyas, Can you please tell me which program you used to get this result?