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With the current code in Line 84, it is not in compliance with Line 83. Should the correct one be as follows?
Line 84: self.cur_R = self.cur_R.dot(R)

I just downloaded the code to my laptop(windows 10),using the KITTY datasets. I did not change anything except the path to my dataset, and here is the error I got after running the code

Traceback (most recent call last):
File "test.py", line 17, in
vo.update(img, img_id)
File "D:\monoVO-python-master\visual_odometry.py", line 94, in update
self.processFrame(frame_id)
File "D:\monoVO-python-master\visual_odometry.py", line 81, in processFrame
absolute_scale = self.getAbsoluteScale(frame_id)
File "D:\monoVO-python-master\visual_odometry.py", line 55, in getAbsoluteScale
x_prev = float(ss[3])
IndexError: list index out of range

In test.py there is a call to a vo.t attribute which does not exist on the visual_odometry.py
I am guessing it should be an attribute which contains the translation vector. Thanks

This seems weird to me. What if we don't have a ground truth (as in most applications, otherwise why do visual odometry in the first place). Any way to replace this?

I would like to run live test to get the pose/tracking data.
Is it possible to use a webcam to test this out?

what is annotation and frame_id in the code I couldn't able to download KITTI datasheet because it is 22GB. please let me know about these. I have my own data. with only single camera .

the x axis is back to front on traj.
ie the car turns to the right and the track goes left

Hi,

I love the idea of this lib, would complete a project I'm working on now. However, I think it might be a little outdated because the latest grayscale dataset has a file structure of /dataset/sequences/00...21/calib.txt | image_0 | image_1 | times.txt . I tried replacing 00.txt with calib or times but I get an out of range error on the absolute_scale function in visualodometry. I'd love any input as to how to fix this.

Thanks

EDIT

Found it, just had to download the ground truth poses as well.

should xrange(4541) be range(4541)? [test.py, line 12]

Before running the for loop the variable xrange is not defined.

for img_id in xrange(2000):

The error is as follows:

_(myMONO) C:\Users\KJoshi\OneDrive\Applanix\myPythonExample\myMONO>python test.py
Traceback (most recent call last):
  File "test.py", line 13, in <module>
    for img_id in xrange(2000):
NameError: name 'xrange' is not defined_

Hi, i'm kinda new here lol, could you tell me where i could find UAV Dataset ? cause it seems this KITTI dataset is for cars, thanks