RGBD odometry in OpenCV

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RGBD odometry in OpenCV

kwaegel
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In case anyone else is interested, I just discovered the cv::RGBDOdometry class in OpenCV contrib. I was searching for this for a while, but the OpenCV documentation never mentions it and you have to know the exact string to search for.

It seems a bit more stable than the existing kinfu implementation for frame-to-frame tracking (fewer large jumps), but only runs at 10Hz. Does anyone know of a public GPU implementation of this algorithm?

I'd be interested in using the kinfu volume to generate the "previous" frame, rather than just using the last frame from the camera.
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Re: RGBD odometry in OpenCV

antithing
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Heya, did you have any luck speeding this function up? I am attempting an implementation...

thanks!
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Re: RGBD odometry in OpenCV

kwaegel
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This post was updated on .
I'm afraid not. I recently accepted a job at Matterport, so this was turned into a side project and indefinitely postponed (along with the rest of my PhD research).

That said, I'm still interested in the technique, since it seems to work well on heavily downsampled RGB-D images. I would be quite interested if you got this working.
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Re: RGBD odometry in OpenCV

antithing
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Well, so far I am having problems even getting it to run on streaming data, when I link it to the kinect stream it gives zero values for translate. Still images work fine, but take between 0.5 - 0.6 seconds and don't seem very accurate..

Is there any chance you could share your relevant code that you had working well? If so, much appreciated! If not, that's fine too. :)