no image depth or 3d point cloud output

thank for your good work. there is noly poses per frame ouput in vo_trajectory_from_folder file, but no pointcloud or depth avaliable，how could i get?

Hi, thanks for your interest. Since this is VO, camera motion is expected to be the only output per the definition of VO. You can catch the depth as below, which is the intermediate output in the segmentation network.

DytanVO/Network/rigidmask/VCNplus.py

Lines 615 to 617 in 76ea83d

    
           # pseudo 3D point compute 
        
           depth = (1./ disp).view(bs,1,-1) 
        
           depth = depth.clamp(depth.median()/10, depth.median()*10)

You can then postprocess the image inputs and the corresponding depth maps by unprojection to generate point cloud.

	# pseudo 3D point compute
	depth = (1./ disp).view(bs,1,-1)
	depth = depth.clamp(depth.median()/10, depth.median()*10)