Ghosting in 3d reconstruction

Software C++
1

Hello, I am trying to do a car reconstruction on a Jetson Orin AGX 64GB with a ZedLink Duo, JetPack 6.2, connected to one ZED X mini, ZED SDK 5.1, latest camera drivers.

After recording the svo, I used ZedFu to perform the reconstruction, but the results are not as expected. Please see below:

  1. ZedFu settings

    settings
    settings639×743 17.7 KB

  2. Start -please see strong ghosting right from beginning

    1
    12527×1364 458 KB

  3. Scan progress

    5
    51920×997 131 KB

 4.Filtering-please notice car is tilted to the left

filtering
filtering644×432 54.6 KB

5.Final-ghosting and tilting

ghosting_1
ghosting_1844×774 120 KB

textured
textured853×510 94.7 KB

The result is surprising to me as the svo looks flawless, and also the depth calculation is almost perfect frame by frame. Even more, the scene includes clear ground paints(lines, numbers) which I believe should help with the positioning and alignment during reconstruction.

I repeated the capture several times, and also tried various ZEDfu settings, but with no luck.

Could you please advise on the possible cause for these issues? I can share the svo by private link to google drive if necessary.

Thank you in advance,

2

ZEDfu is a demo tool designed to demonstrate the Spatial Mapping capabilities of the ZED SDK.
It’s not a final application to create 3D models of objects, but it has been designed to create 3D models of environments.

If you want to create a 3D model of an object, I recommend you create your application using the full capabilities of the Spatial Mapping API functions: C++/Python.

You can begin from the examples on GitHub: