xinwu98 / sc-wls Goto Github PK

Hello，This is a excellent work!
When I compile the C++ code of DSAC*,it came to FAILED: /home/BB/code/SC-wLS/dsacstar/build/temp.linux-x86_64-cpython-38/dsacstar.o And cc1plus: warning: command line option ‘-Wstrict-prototypes’ is valid for C/ObjC but not for C++.
Finally,it came to RuntimeError: Error compiling objects for extension.
I wander what happened in this code and how to solve it?
Thanks

I want to reproduce the results and test the released code with the following command:
python test_e2e_DLT.py <dataset path> --dataset 7Scenes --scene chess --config_file configs/single_frame.ini --model DenseSC_GNN --pretrained-model checkpoints/7scenes_unsup_model/chess/model.pkl
The code run successfuly, and the output is:

val loader: 2000
median t,r error for DLT: 0.021533024 0.6407075225990593
ptc5 for DLT: 0.886

I noticed that the result in the paper is "Ours (dlt) 0.029/0.78". The results are differen. Can you show the right command of the paper's results?

Update:
I also test another command and it seems that the results of end-to-end model is OK:
python test_e2e_DLT.py /home/pengzhexi/camera_relocalization/dataset/7scenes --dataset 7Scenes --scene pumpkin -b 1 --config_file configs/single_frame.ini --model DenseSC_GNN --pretrained-model checkpoints/7scenes_e2e_model/pumpkin/model.pkl
The outputs are equal to paper

Update 4.18:
I try to run SC-wLS on my dataset and I have processed my data in 7Scene format. I want to use the 7Scene dataloader but the code need coords_mean.txt file. Can you tell me the influence if I use zero instead, and how can I compute this file?

Update 4.19:
I try to use 7Scene dataloader to run my data and I have done the following steps: first, resize my rgb images to 640*480; second, change the camera K to my resized camera ([[373.3, 0, 308.67], [0, 497.7, 249.2], [0, 0, 1]]); third, compute the mean of gt camera pose translation as scene_mean. I only use 50 reference images as a simple test but the result is not good. Here scene coordinate initialization network best output:
t_median q_median lr 3.5635636 1.4805614300851522 0.0001
I also test 50 reference in 7scene chess dataset:
t_median q_median lr 0.05904792 0.815205435638383 0.0001
Are there other important parameters that I should change?

Sincerely, thank you.