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'
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:
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.