Not able to reconstruct using D435i dataset

[aswingururaj]

Hii @Eman7C7 . I recorded rosbag from my D435i camera with color and aligned depth frames at 30 Hz each and wrote a python script to generate depth.txt, rgb.txt, rgb and the depth folder. When I run the code using my dataset it is not reconstructing properly. I am getting a rough reconstruction but it is not as good as your official data-sets.

I am getting something like this. What could be the possible reason?

[aswingururaj]

Hii,
I think there is some problem with the depth data that I am feeding in. I saw in your paper that you had generated virtual depth from n=10 frames for testing with TUM-RGBD data-sets. I saw in the description that this implementation lacks the features that make it able to deal with invalid measurements. I would like to generate virtual depths using my data-set to generate the 3D reconstruction of my environment. It would be really helpful if you could explain how to generate the virtual depths.
Thanks.

[Eman7C7]

Hi,
Sorry for the late response.
First of all, let's assume your depth does NOT contain invalid values. Are you sure it is registered to the RGB frame? There is a flag in the driver configuration that you must enable (by default it is disabled)...
The virtual depth part of the algorithm is not necessary as long as you don't record a scene that has very far depth values.

[aswingururaj]

Hi,
Thanks for your response. My depth is registered to RGB frame. I used the align option to make sure that both RGB and depth images are from the same viewport before recording the rosbag. Also I have been using your default parameters for running on my data-set. I changed only the intrinsics of the RGBD sensor. Otherwise I have been trying only with the default parameters. Will that affect a lot? If so, how should I tune them? Or do you think there could be some other issues?
Thanks.

[vbhutani]

Hi,
@aswingururaj, I am also facing the same issue and I also aligned both the RGB and depth images before putting it in the rosbag. Have you been able to solve the problem?

[aswingururaj]

Hi,
@vbhutani I was not able to find the solution for the problem.

[YJZLuckyBoy]

Hi,
@aswingururaj Do you have a problem that you can’t construct tsdf? At runtime, all camera poses are identity matrices. I think it ’s because the first frame of image did not build tsdf.

[aswingururaj]

Hi,
@zyjluck, I don't think that was the issue in my case. As you can see from the picture I posted, I was not getting identity matrices, but just a bad reconstruction, which I thought was because of improper registration.