search

jac99 / MinkLocMultimodal

MinkLoc++: Lidar and Monocular Image Fusion for Place Recognition
MIT License
100 stars 9 forks source link

Bug in lidar2image_ndx generation for val queries #17

Closed alexmelekhin closed 2 years ago

alexmelekhin commented 2 years ago

I've tried to implement validation during training and faced a problem that in the val phase the script returns an error:

AssertionError: Unknown lidar timestamp: 1435937763823973

I've checked the index generation script and found that there is a bug in the code: https://github.com/jac99/MinkLocMultimodal/blob/e8fc6d23c3c6c3cb937186fd0efeb2b67a67b636/scripts/generate_rgb_for_lidar.py#L76

I am pretty sure that it should be ts, traversal = get_ts_traversal(val_queries[e].rel_scan_filepath)

jac99 commented 2 years ago

Thanks for correcting this. Indeed there was a bug in the code.