In your opinion, what would be the best parameters to change within the settings.cpp file for KITTI under .../lsd_slam_core/src/util (provide example numbers please), and can anyone provide an example calibration file that works well with KITTI? I have changed many values and have changed my calib file too many times. Whenever I try to run lsd with a KITTI sequence, the tracking is always lost.
SUNmanhui
commented
6 years ago
Hi all,
In your opinion, what would be the best parameters to change within the settings.cpp file for KITTI under .../lsd_slam_core/src/util (provide example numbers please), and can anyone provide an example calibration file that works well with KITTI? I have changed many values and have changed my calib file too many times. Whenever I try to run lsd with a KITTI sequence, the tracking is always lost.
The camera that KITTI uses is linked here if that helps: https://www.ptgrey.com/flea2-14-mp-mono-firewire-1394b-sony-icx267-camera .
As for the calib file I have been using, here is the page with the values (fx, fy, cx, cy): https://github.com/raulmur/ORB_SLAM2/blob/master/Examples/Stereo/KITTI04-12.yaml . Note: I moved to the left three decimal places for the values
Any suggestions can help. Thanks!