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ethz-asl / segmap

A map representation based on 3D segments
BSD 3-Clause "New" or "Revised" License
1.06k stars 393 forks source link

Porting autoencoder to SegMatch #14

Closed danieldugas closed 7 years ago

danieldugas commented 7 years ago

WIP

rdube commented 7 years ago

Builds on my side!

danieldugas commented 7 years ago

That was fast! Nicely done

rdube commented 7 years ago

Thanks! I had a quick look at the C++ side. The python we should look at it together! ;) Could you test it on your side?

danieldugas commented 7 years ago

Still haven't worked out the dependencies yet, I'll try it out next week :)

rdube commented 7 years ago

Sweet! I addressed my comments and hope it did not break anything! ;) Have a nice weekend!

danieldugas commented 7 years ago

@rdube Segment export looks like it compiles! This whole branch needs some testing and review before merging

rdube commented 7 years ago

@exodaniel good job! I had a quick look. Mostly minor non urgent comments! Yes we should first test so no hurries to merge in. Also the functionalities are separate so it will be easy to keep in sync. Bon travail! :-)

rdube commented 7 years ago

btw it also compiles fine on my side!

danieldugas commented 7 years ago

@rdube The autoencoder is now working!

There was a mean bug caused by the fact that Ids had always been stored in order before. Now that it wasn't necessarily so, a tiny assumption in my python code was causing segments to be incorrectly read from file.

A tough nut to crack.

Running some tests, I see this error: Check failed: false Distance not implemented.

rdube commented 7 years ago

@exodaniel I reverted some changes to the kitti_loop_closure.yaml file. I hope that is fine. Should we try to merge that PR and fix the remaining issues in another branch?

danieldugas commented 7 years ago

@rdube sure, if it's functional on your end too!

rdube commented 7 years ago

LGTM! Feel free to merge! :)