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princeton-vl / DROID-SLAM

BSD 3-Clause "New" or "Revised" License
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about extrinsic parameter for stereo cameras #111

Open jaehwan-pi opened 1 year ago

jaehwan-pi commented 1 year ago

Thank you for your wonderful work. As I'm testing your code with stereo camera setup, I found that scale errors are quite big even if I'm using stereo images. For example when I test with EuRoC dataset, scale error values are around 1.1 for all sequences.

According to an issue(https://github.com/princeton-vl/DROID-SLAM/issues/102), It seems like your code does not consider stereo camera extrinsic value.

When I change the parameter https://github.com/princeton-vl/DROID-SLAM/blob/main/droid_slam/geom/projective_ops.py#L105 to stereo camera extrinsic value, provided by EuRoC calibration file, it seems like scale errors are reduced quite much.

So these are my questions.

  1. Changing the parameter above, is it a right way to consider stereo camera setup?
  2. If so, why your code have fixed the parameter to be [-0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] ?
dani808-max commented 1 year ago

could you help me how to run this code in google colab?