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uzh-rpg / rpg_svo

Semi-direct Visual Odometry
GNU General Public License v3.0
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Color images #182

Open hanstayhe opened 7 years ago

hanstayhe commented 7 years ago

Hello @cfo , I have been testing your code with a BnW camera with good results. However, I notice that the program is written to work in mono8 images and was wondering why you choose not to use mono16 instead, and also, can BGR or color images be used with the program. Also, if it can be used with color images, will there be any advantages or disadvantages?

Thanks in advance!

AlexisTM commented 7 years ago

RGB images

Pros : "could" improve tracking Cons : 3 times more things to compute Idea : You can try to send the R, G, B in different SVO nodes, then compare results to the Mono8 node

For Mono16, if you have a camera capable of getting a true Mono16 image, you could try.