some questions about the average RTE based on KITTI

chrischoy / DeepGlobalRegistration

[CVPR 2020 Oral] A differentiable framework for 3D registration

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some questions about the average RTE based on KITTI #53

Closed callmewanzi closed 4 months ago

callmewanzi commented 4 months ago

Hi,thanks for your great work.But some problem came to me.
There is self.use_icp = True in the coding , is it just mean using ICP to refine register model ? which called "Ours+ICP"method in paper. However,we use KITTI dataset's sequence08 to test the "Ours+ICP" model, and the average RTE is 0.15760340035163767(m) ? and if we set self.use_icp = False, the average RTE is 0.37215860772969533(m) based on sequence08 . Thanks for your great job again!

callmewanzi commented 4 months ago

Hi! I know why my answer was different from Tab3 now.Because in your file test_kitti.py ,there is succ_rate, rte, rre, avg_time, _ = stats[:i + 1].mean(0) so the logger will record all RTE and RRE including unsuccssed pairs. Thanks!