search

princeton-vl / DPVO

Deep Patch Visual Odometry/SLAM
MIT License
608 stars 71 forks source link

Missing calib/icl_nuim.txt #40

Closed karnikram closed 10 months ago

karnikram commented 10 months ago

Hi, it seems like the camera intrinsics file required by the evaluate_icl_nuim.py script is missing. When I use values from the dataset paper (481.20 480.0 319.50 239.50) I get higher ATE values than reported.

Could you share the values used in your paper?

lahavlipson commented 10 months ago

We used 481.20 -480.00 319.50 239.50

Note that the second number is negative. I'll add the missing icl_nuim.txt

karnikram commented 10 months ago

Thanks for the clarification. I'd also used the -480 but my problem was I downloaded the wrong version of the dataset from their website (TUM RGB-D compatible PNG instead of ICL-NUIM PNG). It works well with the correct version.