Open Secret-Lin opened 1 year ago
At the moment the pointclouds are not saved so you would have to implement this yourself.
For this you can create your own Output3DWrapper https://github.com/lukasvst/dm-vio/blob/master/src/dso/IOWrapper/Output3DWrapper.h#L199 and override publishKeyframes
see https://github.com/lukasvst/dm-vio/blob/master/src/dso/IOWrapper/OutputWrapper/SampleOutputWrapper.h#L77 as an example.
You then need to register the Output3DWrapper to the fullSystem (like this https://github.com/lukasvst/dm-vio/blob/master/src/main_dmvio_dataset.cpp#L143)
The pointcloud is passed to publishKeyframes as position in the image (u, v) and inverse depth, so to get the 3D-XYZ coordinate you will need to reproject it to 3D. Here you can find an example of how to do this: https://github.com/lukasvst/dm-vio/blob/master/src/dso/IOWrapper/Pangolin/KeyFrameDisplay.cpp#L240-L263
Thx for the last issue. I sucessfully run the code. As title! Or can I get the location of the 3D points in any format?