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tzutalin / OpenCV-RgbdOdometry

:snowman: OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)

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Getting zero correspondences with ICP based odometry

tanajikamble13 opened this issue · comments

commented

I am trying with other type of odometry, Rgbd-ICP and ICP. Its not working, unable to find correspondences, I changed main code accordingly as shown below:

odom = std::make_shared<rgbd::RgbdICPOdometry>(
          cameraMatrix, MIN_DEPTH, MAX_DEPTH, MAX_DEPTH_DIFF, MAX_POINTS_PART, iterCounts,
          minGradMagnitudes, rgbd::Odometry::RIGID_BODY_MOTION);
      /* 
      odom = std::make_shared<rgbd::ICPOdometry>(
          cameraMatrix, MIN_DEPTH, MAX_DEPTH, MAX_DEPTH_DIFF, MAX_POINTS_PART, iterCounts,
          rgbd::Odometry::RIGID_BODY_MOTION);
      */