SLAM_pipeline_step_by_step output

[Blockheadsuper]

Hello, I'm trying the new SLAM_pipeline_step_by_step notebook of the new Monocular SLAM repo. The code runs fine but the point cloud that it generates looks wrong... It's really flat, there's basically no depth. Is there something wrong with the triangulation step? I downloaded the recommended KITTI dataset so I'm using the same data. The only change I made was to add "o3d.visualization.draw_geometries([pcd])" for visualization rather than writing to a .ply file.

I'll attach some screenshots of the point cloud that's displayed, haven't figured out how to add axes yet but I think the screenshots still paint a picture. Anyone have any advice?

[soumya997]

In case of KITTI dataset I would suggest you to use the python code rather than that notebook.

[imyagudin]

Hi, I faced the same problem as you. Have you found any solution?

[Blockheadsuper]

I did not. I ended up putting the project aside for now. I have thought about this in months. After a bunch of reading online, it seemed like this kind of issue appears when using ORB features and gets better after bundle adjustment (which I didn't feel like getting into without 2-frame reconstruction looking right)