Can I use your model to train or infrence trajectory on KITTI dataset?

[sunnyHelen]

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?

[samarth-robo]

Hi @sunnyHelen , yes you can use MapNet for other datasets -- create your own dataloader by following the ones already provided. Here is some documentation.

[sunnyHelen]

Nice, thanks a lot~

[sunnyHelen]

Hi, I created a data loader KITTI dataset. But when I visualize, I find even the trajectory of ground-truth are totally wrong. Like this:

And here's the description of the ground-truth pose:

I just used this ground-truth for visualization. Is this wrong? Or do you know what may cause this result?

[sunnyHelen]

The right trajectory should be like this:

[samarth-robo]

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.