Error when using RGBD mode with depth obtained by monocular depth estimate #1103
Description
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 2.61s
Camera Parameters:
- fx: 499.495
- fy: 498.644
- cx: 321.652
- cy: 177.204
- k1: 0.347873
- k2: -1.5261
- k3: 1.96932
- p1: 0.00227859
- p2: 0.00251658
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 4000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 7
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 0
Start processing sequence ...
Images in the sequence: 3172
New map created with 4008 points
receive a keyframe, id = 1
receive a keyframe, id = 1
generate point cloud for kf 1, size=0
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinary] Input point cloud has no data!
已放弃 (核心已转储)
I obtained a depth map using a depth estimation model, but the resulting image looks like this. How can I modify the depth map to make it look like the depth maps in the TUM RGB-D dataset?