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3D Point cloud data and odometry data is not correct #50

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GaganmeetSingh opened this issue Sep 24, 2021 · 0 comments
Open

3D Point cloud data and odometry data is not correct #50

GaganmeetSingh opened this issue Sep 24, 2021 · 0 comments

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@GaganmeetSingh
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GaganmeetSingh commented Sep 24, 2021 •
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I am using a USB monocular camera with dso_ros. I am getting the data but the data is not correct. It seems like it is not able to calculate the depth and it is just projecting the point cloud in a 2D space. Even if I capture two mutually perpendicular surfaces, it projects the corresponding point cloud in the same place. I think it is a calibration issue. I am adding some screenshots of the results along with the calibration file.

Screenshot from 2021-09-24 13-33-07
Screenshot from 2021-09-24 13-33-21

Pinhole 264.4725 264.4275 328.9375 188.5215 0
640 480
crop
640 480

Thanks in advance
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@GaganmeetSingh