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ClementPinard / SfmLearner-Pytorch

Pytorch version of SfmLearner from Tinghui Zhou et al.
MIT License
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input three same images, out poses are not same #118

Closed wataincdx closed 2 years ago

wataincdx commented 3 years ago

when i in input three same images on pretrained model, out poses are not same

ClementPinard commented 3 years ago

What is the exact output pose ? It is expected that the network is biased against the training set. More specifically, here the KITTI image are always going forward. So the network will have a tendency to output poses that translate to a forward motion even if there is no visible movement. However if the outputted translation is small enough, i think it's not too much of a problem. Do you have a vizualisation of the warped images ? The network has been trained so that warped images ressemble the middle one. As such, here the real problem would be if the depth + pose did output a noticeable optical flow for warping the image.