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sconlyshootery / FeatDepth

This is the offical codes for the methods described in the "Feature-metric Loss for Self-supervised Learning of Depth and Egomotion".
MIT License
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About ground truth pose #65

Closed sunnyHelen closed 3 years ago

sunnyHelen commented 3 years ago

https://github.com/sconlyshootery/FeatDepth/blob/64128b03873b27ffa5e99a5cb1712dd8aa15cb0d/mono/datasets/kitti_dataset.py#L100 Hi, thanks for sharing the great work. I'd like to ask why the ground truth pose is represented by only three numbers.

sconlyshootery commented 3 years ago

Here, only translation is considered.

sunnyHelen commented 3 years ago

Ok, got it. Then, how can we get the ground truth rotation？For Kitti odometry dataset, we can get it from the provided pose.txt, right? Is there anyway to get ground truth pose for Kitti raw dataset?

sconlyshootery commented 3 years ago

You need to refer to codes from https://github.com/sconlyshootery/packnet-sfm to compute gt pose from raw data.

sconlyshootery commented 3 years ago

You can reopen this issue when you have further problem.