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the depth for RGBDSLAM dataset for InfiniTAM #30
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Looks like the intensities for the depth values are flipped, so the depth being read by InfiniTAM is the inverse of the correct depth image. I am working on a reader that would use the association files that can be created for the TUM datasets, I'm not sure if thats something upstream would want but I think it could be useful. |
@connerbrooks Thanks a lot, could you send me a copy of that reader when it works for TUM dataset? Thanks again! |
Excuse me, I have encountered a similar problem, any updates? |
I have written the majority of a reader for the TUM data sets which can be found here (requires libpng and zlib); this reader uses an association file. The issue is that the depth images are scaled meter values as described here, and I have not been able to change these values to what InfiniTAM expects. |
@LiliMeng You may supply png images to InfiniTAM directly. In order to get InfiniTAM running on the TUM Dataset I had to scale the depth values by a scalar factor of (1/5000). In InfiniTAM you may specify the transformation to apply to the depth values directly in the calibration file. 640 480 640 480 1 0 0 0 affine 0.0002 0.0 |
@connerbrooks I have cloned your feature/tumReader branch. I modified line 35 of the file InfiniTAM.cpp as: imageSource = new TUMFileReader(calibFile, filename1, filename2); |
hi, @mikesapi , Can you give your reader code or detail step about TUM Dataset? |
@LiliMeng @connerbrooks @sgolodetz we were trying infiniTAM on RGBD dataset as well, we weren't successful and also tried methods mentioned above in this thread. Do you have any pointers to get it running? |
Although it has been years, I put the answer hereto run TUM rgbd dataset here in case people want to run exactly as the demo
Change the directory to the place you store and output ppm pgm image 2: If you use TUM dataset freburgh1 as @mikesapi answer, simply use the following as the calib file
Note the rgb and the depth has been aligned so we have an identity matrix in the above file. 3: Run! At where you put the executable file, using the following commands to run, just replace the path to where you put the rgb and depth.
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Hi,
Thanks a lot for this great code!
Could TUM RGBD dataset be used to test InfiniTAM? (after changing the rgb png format to ppm and depth png format to pgm) The result seems very wired (https://www.youtube.com/watch?v=mXt8AYPDwq4)
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