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Hi Boris, The KITTI dataset that is being used appears to be the colour one from here ([KITTI website](http://www.cvlibs.net/datasets/kitti/eval_odometry.php)). It is sequence 00. You also need the `00.txt` which is...

@JonnySme If your dataset is a sequence of image files then you need to change lines 85, 86, and 139 to load your images instead. Also you need to change...

@JonnySme It depends on your dataset. If it's video that you recorded yourself then you will have to measure it. If you downloaded a dataset it should come with its...

@JonnySme If it's video you've taken yourself you'll have to measure it while taking the footage. Perhaps with GPS, an IMU, Vive Trackers, having calibration checkerboard present in all frames,...

The code works with the colour KITTI odometry data set. However, the call to `cvtColor(img_1_c, img_1, COLOR_BGR2GRAY);` converts it to grey scale, so it would probably run the same on...

I came from the blog post as well and was also getting very different results too. I was using 640x480 left and right images straight from the New Tsukuba dataset....