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spmallick / learnopencv

Learn OpenCV : C++ and Python Examples
https://www.learnopencv.com/
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SLAM_pipeline_step_by_step output #930

Open Blockheadsuper opened 1 week ago

Blockheadsuper commented 1 week ago

Hello, I'm trying the new SLAM_pipeline_step_by_step notebook of the new Monocular SLAM repo. The code runs fine but the point cloud that it generates looks wrong... It's really flat, there's basically no depth. Is there something wrong with the triangulation step? I downloaded the recommended KITTI dataset so I'm using the same data. The only change I made was to add "o3d.visualization.draw_geometries([pcd])" for visualization rather than writing to a .ply file.

I'll attach some screenshots of the point cloud that's displayed, haven't figured out how to add axes yet but I think the screenshots still paint a picture. Anyone have any advice?

image

image

soumya997 commented 1 week ago

In case of KITTI dataset I would suggest you to use the python code rather than that notebook.