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uzh-rpg / rpg_svo

Semi-direct Visual Odometry
GNU General Public License v3.0
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Inaccurate depth estimation #261

Open ayzexon opened 4 years ago

ayzexon commented 4 years ago

Hi,

We are trying to run SVO with ROS on a DOWNLOOKING camera and high frequency texture using iPhone camera with 60 fps.

We are observing a strange phenomenon of the ground "rising" as the camera is moving. also when the camera is making a turn the ground is observed as if it is on a tilt to the left and not horizontal. Another issue is that the "density" of seeds and points on the map are spreading farther as the camera moves. We have an hypothesis that it is something to do with the depth estimation / seed insertion with wrong depth, Can anyone have a suggestion on where in the code we can look for it?

attached are snapshots of the stated issues: ground lift

density

the paramater file: pinhole_iPhone2.txt

hakunaMatataHub commented 4 years ago

I am not sure but a cue, check if you are providing distortion coefficients accurately.