Hello, thanks for your codes.
I used your pretrained model for test_pose. but it does not performed well.
![Uploading sequences09_pretrained.png…]()
I use evo to evaluate the trajectory. the "gt" is sample['poses'] in test_pose.py line 91, and the "predictions" is your output. (cause both they are relative transform, I manually converted them into absolute transform.)
So I train the model according to your tutorial. But it goes worse after 2000 epochs.
I do not know why. Do you have some output of the posenet? Or can you give me some advise.
你好,感谢你分享代码。
我用你提供的model跑test_pose,但是画出来的轨迹表现很不好。(我在kitti_odometry的各个sequences上都试了下)
我使用evo工具来绘制轨迹。由于代码的输出是相对变换,我手动将test_pose.py第91行的predictions 和sample['poses']转换成绝对变换来绘制,他们的变化方式相同,因此应该不是这里有问题。
然后我打算自己训练,按照你提供的参数,只修改了路径。但是即使2000 epochs之后,跑出来的轨迹还是有问题。
我不知道是不是我的操作有问题,能否看一下你的posenet输出的可视化结果,又或者你能给我一些别的帮助。