Can I use your model to train or infrence trajectory on KITTI dataset?
sunnyHelen opened this issue · comments
Do you ever try to train or test on KITTI dataset? Can I use your model to predict trajectory on other dataset except 7 Scenes and RobotCar?
Hi @sunnyHelen , yes you can use MapNet for other datasets -- create your own dataloader by following the ones already provided. Here is some documentation.
Nice, thanks a lot~
Hi @sunnyHelen it is hard to debug this without looking at your dataloader code. It seems like you should be able to load the poses
file directly into the ps
variable in your dataloader. I suggest to first turn all normalization off by setting mean_t=[0, 0, 0]
, std_t=[1, 1, 1]
, align_R = np.eye(3)
, align_t = np.zeros(3)
, align_s = 1
, and seeing if that produces a reasonable plot.