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Published 20 hours ago • verified publisher icon JakobEngel

About depth map

Open WANGYINGYU opened this issue 6 years ago • 2 comments

Hello,I now need to get the depth map through the DSO, but I don't know how to change which parts of the code to implement. Can you give me some advice? Thank you very much.

WANGYINGYU avatar Apr 03 '18 05:04 WANGYINGYU

Hi @mrwtakev,

write your own Output3DWrapper, see also SampleOutputWrapper.

cheers

s3r637 avatar Apr 26 '18 08:04 s3r637

Hi, I'd like to use depth info and keyframe info. pushDepthImage() can get depth image. However I can't find out how to attach depth information to keyframe information. ex. Relation between the point on the depth map and the keyframe id which has the point.

So, as the first step, I try to get point information from publishKeyFrames() and store in the PangolinDSOViewer.h. Then put the depth info on the raw image in pushLiveFrame(). It similar to the output of pushDepthImage() on the Pangolin. However slightly different. Is this implementation shortcut toward my goal?

Sho412 avatar Jun 22 '19 02:06 Sho412