Open YznMur opened 2 years ago
I figured it out and made some changes in class UpdateModule(nn.Module)
self.weight = nn.Sequential(
nn.Conv2d(128, 128, 3, padding=1),
nn.ReLU(inplace=True),
nn.Conv2d(128, 3, 3, padding=1),
GradientClip(),
nn.Sigmoid())
also
self.delta = nn.Sequential(
nn.Conv2d(128, 128, 3, padding=1),
nn.ReLU(inplace=True),
nn.Conv2d(128, 3, 3, padding=1),
GradientClip())
if you have any advices about training the model on KITTI or training config, it will be appreciated !
Why do we need to change the model shape for training vs inference?
@YznMur Hi, How do you train kitti, using rgb or rgbd? If rgbd is used, how to obtain depth images of kitti? thank you!
@CH-901 I used RGBD. You can find depth images for KITTI sequences here : https://www.cvlibs.net/datasets/kitti/eval_depth_all.php This may help u:
Odometry Nr. Raw sequence name Start End
00: 2011_10_03_drive_0027 000000 004540
01: 2011_10_03_drive_0042 000000 001100
02: 2011_10_03_drive_0034 000000 004660
03: 2011_09_26_drive_0067 000000 000800
04: 2011_09_30_drive_0016 000000 000270
05: 2011_09_30_drive_0018 000000 002760
06: 2011_09_30_drive_0020 000000 001100
07: 2011_09_30_drive_0027 000000 001100
08: 2011_09_30_drive_0028 001100 005170
09: 2011_09_30_drive_0033 000000 001590
10: 2011_09_30_drive_0034 000000 001200
@YznMur Thank you for your reply. I found the depth data. If only rgb training is used, what value should be entered for disp0 in the training code model(Gs, images, disp0, intrinsics0, graph, num_steps=args.iters, fixedp=2)
There are the KITTI 2015 stereo disparities, you can find them here: http://www.cvlibs.net/download.php?file=data_scene_flow.zip
@YznMur Thanks. What is the RPE of the model after the training of Kitti dataset in your experiment. My output seems to be random although the loss is decreasing.
Hi @CH-901 About loss, I faced the same problem, it was meaningless :(
I haven't solved this problem @YznMur
Hi @YznMur I download the depth images for KITTI sequences from:https://www.cvlibs.net/datasets/kitti/eval_depth_all.php. But each sequence of depth images seems to be missing files from 000000.png to 000004.png. Have you encountered the same issue?
Hi @LinMenwill. Just take this into consideration when u r preparing train and eval lists.
@YznMur Thanks
@YznMur I found that the depth data downloaded from https://www.cvlibs.net/datasets/kitti/eval_depth_all.php lacks the presence of the sequence "03:2011_09_26_drive_0067." and the depth data appears to be sparse, how did you convert this sparse depth data into a denser representation? or use sparse depth for training directly?
Hi @zachteed @xhangHU I couldn't use your weights "droid.pth" for training? I faced this error:
I am trying to train the model on KITTI These are the parameters which I am using :