yurimjeon1892/efgh

EFGHNet: A Versatile Image-to-Point Cloud Registration Network for Extreme Outdoor Environment

efgh's Issues

How to process KITTI dataset?

Thanks to your excellent work on EFGHNet. Now i'm designing a comprehensive pointcloud processing method on KITTI. Can you tell the detail about how you process KITTI dataset until it can be used in EFGHNet?

Question about the evaluation part

Thanks for your nice work, I have two questions about the evaluation:
1). Are Test1-E to Test1-H on the Kitti odometry corresponds to the sequence 07-10?
2). The Rotation and translation augmentation scale when doing evaluation?
Looking forward to your reply!

Results not proper

I tried doing this Still couldn't make much sense of the results!
Can you help?

I have already tried this #4 (comment)

Folder structure for kitti

Can you please share the folder structure required for kitti odometry?

Missing a file when running test step?

It seems missing a file when running the test step?
'../test/params/rellis_rand_init_30_30.csv'

Linalg Singular matrix in Training

Hello,

I have downloaded the Rellis_3D dataset and tried to train the model.
In run 1/25, at 58% 4540/7800, i get the following error:

_LinAlgError('linalg.inv: (Batch element 0): The diagonal element 2 is zero, the inversion could not be completed because the input matrix is  singular.')

Have you experience this befoore or do you know what the problem is? Did the dataset change?
I'm using torch 2.0.0+cu117 instead of torch 1.10.0 since the gpu needs it.
Does that have anything to do with it?

Thank you