Comments (1)
The 6-DoF pose is the output of the model: https://github.com/aofrancani/TSformerVO/blob/main/predict_poses.py#L80
Keep in mind that we estimate poses given consecutive pairs of frames in a windowed data. So if you have a window size of 4 (4 frames), you estimate 3 poses considering the entire windowed data. If there is an overlap between successive windowed data (sliding window with overlap), I post-process the data by taking the average of the repeated poses (they are slightly different because the estimation takes into account the entire windowed data): https://github.com/aofrancani/TSformerVO/blob/main/plot_results.py#L30
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Related Issues (14)
- input diemension HOT 2
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- An error occurs in pretrained_ViT: True HOT 6
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- To achieve results more closely aligned with the paper HOT 2
- modify training data ? HOT 1
- Can I provide the weights of the trained model? HOT 4
- result HOT 4
- 7DoF and 6DoF HOT 9
- camera intrinsic parameters HOT 5
- How can get the value of undo normalization step in plot_results.py HOT 1
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