Comments (8)
I suppose so, but we recommend using semanticKitti poses in your work which are more accurate.
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Hi @surajiitd Thanks for using our code!
loop_gt_seq00_0.3overlap_inactive.npz contains N lists for N laser scans of sequence 00. In each list n, there are indices of laser scans that have overlap > 0.3 with respect to the n th laser scan (exclude near 100 scans). As to the calculation of overlap, you can refer to OverlapNet Demo4.
BTW, you can find our newer works OverlapTransformer and SeqOT to implement faster retrieval. We have released the code to generate distance-based loop git files for NCLT dataset here. The data structures are quite similar. The only difference is that each list in git files for NCLT contains the loop indices in database.
from overlapnet.
@BIT-MJY Thank you so much for your instant reply!
But I already ran Demo4 of OverlapNet and tried again. But I can't generate any loop_gt_seq00_0.3overlap_inactive.npz
file. No such file is generated that has such info (one list for each laser scan). Please help on how to get this file!
Of course, I'd like to see your more recent work OverlapTransformer and planning to use it. But that is also referring to Overlapnet for generating gt_file
(loop_gt_seq00_0.3overlap_inactive.npz
) file.
from overlapnet.
We have uploaded our newest version of this related script to generate ground truth files in the OT repo. You can find it here.
Please pull our new code, modify the paths in this file (tools/utils/gen_gt_data.py
), and run
cd tools/utils/
python gen_gt_data.py
Note that the poses file is from semantic kitti, which is refined by SLAM.
from overlapnet.
Hi @BIT-MJY
Note that the poses file is from semantic kitti, which is refined by SLAM.
In OverlapTransformer you have used semanticKitti poses, but in OverlapNet you have just used kitti poses right?
from overlapnet.
Thank you so much @BIT-MJY
from overlapnet.
Related Issues (20)
- Questions about my test HOT 2
- Questions about overlapnet HOT 2
- Using overlapnet for a different dataset HOT 6
- Question about covariance ? HOT 2
- Question about computing overlap ground truth HOT 4
- Way to integrate with ROS ?? HOT 5
- Preprocessing time HOT 2
- Question about how to judge a loop closure True Positive or not HOT 4
- FileNotFoundError: [Errno 2] No such file or directory: 'config/demo.yml'
- some errors encountered during training HOT 7
- Some confusion about normalize_data.py HOT 3
- Requirements of pytorch HOT 3
- Some confusion about real overlap calculation HOT 10
- Pytorch version training. HOT 5
- Questions when Generating train_set HOT 5
- Problem in the first version HOT 2
- ground truth HOT 1
- Datasets HOT 1
- How to generate train_set HOT 1
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