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qcr / quadricslam

Demonstrations of performing SLAM using Quadrics
BSD 3-Clause "New" or "Revised" License
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Transformation matrix in rgbd_cv2.py is not updated at line 45 #14

Open AllenIsaacJose opened 1 year ago

AllenIsaacJose commented 1 year ago

Initially, the code was showing an error that the depth image was not in the required format.

cv2.error: OpenCV(4.7.0) /io/opencv_contrib/modules/rgbd/src/odometry.cpp:90: error: (-201:Incorrect size of input array) Depth type has to be CV_32FC1. in function 'checkDepth'

The format was changed prior to odometry compute:

        p.depth = p.depth.astype("float32")
        n.depth = n.depth.astype("float32")

After that, the code is running, but the transformation matrix t is not updated. It still remains as identity matrix of size 4.

When printing the output of function self.odometry.compute at line 45, its also giving a bool status of False.