search

TempleRAIL / SOGMP

[CoRL 2023] SOGMP++/SOGMP: Stochastic Occupancy Grid Map Prediction in Dynamic Scenes
https://openreview.net/forum?id=fSmkKmWM5Ry
MIT License
21 stars 3 forks source link

Resize a map #6

Open 3oo0q-kvmlskz opened 1 month ago

3oo0q-kvmlskz commented 1 month ago

Hello, can the map size in the program you provided be modified? How should I modify it? I tried to change it MAP_X_LIMIT = [0, 6.4] # Map limits on the x-axis MAP_Y_LIMIT = [-3.2, 3.2] # Map limits on the y-axis The operation will report an error.

zzuxzt commented 1 month ago

You need to retrain the model to resize the input map since the input size to the SOGMP models is fixed.

3oo0q-kvmlskz commented 1 month ago

Hello, I'm running sh run_train.sh ~/data/OGM-datasets/OGM-Turtlebot2/train ~/data/OGM-datasets/OGM-Turtlebot2/val Trying to retrain, modified MAP_X_LIMIT = [0, 6.4] # Map limits on the x-axis MAP_Y_LIMIT = [-3.2, 3.2] # Map limits on the y-axis But an error was reported when running ValueError: Using a target size (torch.Size([4, 1, 128, 128])) that is different to the input size (torch.Size([16, 1, 64, 64])) is deprecated. Please ensure they have the same size. Why is that? Is there anything else that needs to be changed?

zzuxzt commented 1 month ago

What size is your map? You need to also modify the NUM_LATENT_DIM and IMG_SIZE.