How to get started with new images?

[andyzeng]

How to get started with new images?

[plutoyuxie]

Hi, the pairs of color images and depth images should be aligned.
You need to caculate the camera pose for each frame. ICP may be helpful.

[YJonmo]

Hi, the pairs of color images and depth images should be aligned.
You need to caculate the camera pose for each frame. ICP may be helpful.

I used Kinect Fusion to align the depth images and got the camera pose form there. But when I use TSDF with the pose and depth it just doesn't work.

[Viky397]

Hi! I have my .pcd point clouds saved, and I use ICP to calculate the poses. However, running tsdf.py, the output mesh looks quite odd and elongated. Any tips would be welcome, thank you!

[YJonmo]

Maybe try to scale your pose info, i.e., divide it by a 2 or 3 ..

[Viky397]

Hello. I tried dividing by 2 or 3 but this just makes the output mesh look more sparse, and doesnt help with the oddly elongated output shape.

[YJonmo]

Did you divide the translation?
Only the translation should be divided or multiplied by a scaling coefdicient.
Keep in mind, the x axis is rightward, y is downward and z is outward.

[Viky397]

I used the following to get the transformation:

reg_p2p = o3d.registration.registration_icp(
            source, target, threshold, trans_init,
            o3d.registration.TransformationEstimationPointToPoint())

And then I save the following to a .txt file, and divide by a scaling factor:
reg_p2p.transformation/3

[YJonmo]

I guess the reg_p2p.transformation is a 4*4 transformation matrix?

You only need to divide the last column of this matrix by a coefficient. The last column is a the translation:
reg_p2p.transformation[0:3,-1] = reg_p2p.transformation[0:3,-1]/Coeff

In my case, I chose changes in the movement when it was no rotation. Then I focused on finding the correct dividing coefficient.

[Viky397]

Hm still seems very odd. This is the resulting mesh.ply.

[YJonmo]

It is hard to say what is going on just by looking at the image.
Also give some off set to your depth values. For example all the depth values should be added by some constant value. If you maximum depth is 255, then add 50 to the value of each pixel and see how it looks like. Play with the numbers.

[Ademord]

@Viky397 did you find a solution to this?

[Viky397]

@Ademord nope. I switched to Kimera-Semantics instead. Very easy repo to work with in ROS :)

[Ademord]

@Viky397 ahhh im working in unity so i need to do this by hand technically :(