ply file is very bad made by metric3d with droid, but very well by metric3d

[qiuhaining]

[Jianxff]

As I known, metric3d generate pointcloud with single image and depth map, while DROID-SLAM do it with all images and trajectory. If the pointcloud by droid+metric looks bad, I think it may be caused by the following reason:

• Bad depth estimation
• Very long trajectory may aggravate the drift, which make the reconstruct tion worse
• The pointcloud by droid-slam is under opencv coordinate, but Meshlab is on opengl coord. Try adjust your view camera.