which dataset did you use? could you provide the link?

[YiChenCityU]

which dataset did you use? could you provide the link?
Thanks.

[alexwu-bayarea]

I used Kitti Odometry dateset: http://www.cvlibs.net/datasets/kitti/eval_odometry.php

[marvis]

Hi @JiatianWu. Is there big difference between grayscale images and color images when running the results? Thanks!

[alexwu-bayarea]

Not exactly. Stereo DSO transforms color image to grayscale.

[taiping-z]

Hi, @JiatianWu.

How to calc disparity in Calibration File for the KITTI datasets, could you please provide a simple example or a link?

Thanks!

[ouerkakaChango]

@taiping-z
try this for KITTI 00:
718.856 718.856 607.1928 185.2157 0
1241 376
crop
640 480
0.3861448
(The so called 'disparity' is baseline,I found the parameter in ORB-SLAM2's yaml,and divide 1000)

[alexwu-bayarea]

Yes the disparity is actually baseline of the stereo camera. Already update it. Sorry for the ambiguity.

[taiping-z]

@ouerkakaChango, @JiatianWu,
Thanks a lot.

[ganleiboy]

@ouerkakaChango Thanks a lot. I have made camera.txt, but i don't kown why dividing 1000 is needed. Could you explain it in detail, please?