How to get the 3d points and image points

[haichuanW]

Hello,

I tried to use your data with dso, but I can not repeat your result. As for me, I save 2d points and depth data of keyframe and project back to get 3d points, which is more than 1 million points. And I check the points you provide, it is only around 60 thousand points. How did you save the 3d points?

[holynski]

Hey, which DSO preset are you using? Typically, using the faster presets produce fewer points.

As for exporting points, if I recall correctly, I wrote an extra output wrapper to save into the COLMAP format. A good way to validate that you've done everything correctly is to open the resulting files in the COLMAP visualization tool to check to see if the pointcloud looks reasonable.