Weird result gained.

[YiheChen1995]

HI I wonder if you have any idea where the things could have gone wrong, as you can see that things here are not parallel....

[shichaoy]

Hi, this is mostly due to wrong calibration parameters. Rightnow, I hardcode the calib parameters in main_stereo_imgs.cpp. Since you are trying a new dataset, you should change them, either in the main cpp. Or you can modify the code a bit to put parameter in some yaml file, then you don't need to compile it everytime.

[qq664956261]

Can you send me the author's dataset? The download link failed. Thank you. @YiheChen1995

[speed8928]

I got a similar weird result as well. I used the raw kitti dataset sequence 2. I changed the code from main_stereo_imgs.cpp and rebuild it.

image_width = 1242;
image_height = 375;
calibration_mat<<984.2439, 0, 690,
0, 980.8141, 233.1966,
0, 0, 1;

I noticed that the depth map you upload is like an inverse version(the further the brighter). Did you do post-processing on it?

[speed8928]

Hi, I just figure it out the problem is the depth map should be 16 bit and the further the value should be bigger in your program.

[qq664956261]

Does your CameraTrajectory.txt use kitti groudtruth?
Why do I have this warning：TF to MSG: Quaternion Not Properly Normalized？ @speed8928 @shichaoy

[shichaoy]

@qq664956261 It is the same format as kitti ground truth. each row is 12 number, a flattened vector of [R, t] matrix in row order. actually we get the CameraTrajectory.txt from orb slam. Do you use the provided trajectory?

[qq664956261]

thanks your sharing replying and the problem has been solved.but i have another problem.
why the label color is wrong the car is green and the road is purple

@shichaoy

[speed8928]

This is because you did not change your labels to correspond to their crf model. Have a look in data process folder.

[speed8928]

@shichaoy @YiheChen1995 This might be not the question fit for the topic but do you guys know if there are any paper regarding estimate objects (static) in the semantic scene by using a similar fashion (stereo) as you did?

[shichaoy]

@speed8928 sorry, I didn't keep up to date in the field, but I think it is easy to find them. Maybe start with some representative work then find which paper cites them, for example "Incremental dense semantic stereo fusion ..." by Vinnet. You can also find which paper cites my work.