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[csufangyu]

Thanks for your work! I run your code as README, but when i run your code ,I meet a problem as fellows:

seq_00_epoch_*_best* Detected epoch 11 as the best one. Traceback (most recent call last): File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 276, in <module> main() File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 76, in main test_stats, tm_dict = run_test(seq, epoch, correction_type, 'sparse', paths) File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 165, in run_test test_loader = DataLoader(KITTIOdometryDataset(kitti_config['kitti_data_file'], img_type=train_config['img_type'], transform_img=transform_img, run_type='test', remap_kitti_folder=paths['kitti_img']), File "/home/robot/PycharmProjects/dpc-net/utils.py", line 87, in __init__ self.load_kitti_data(run_type) #Loads self.image_quad_paths and self.labels File "/home/robot/PycharmProjects/dpc-net/utils.py", line 92, in load_kitti_data kitti_data = pickle.load(handle) ModuleNotFoundError: No module named 'liegroups.se3'
could you help me?Thanks very much!

[csufangyu]

I have solved it!but i meet a other problem: could you give some information about the trained model? I can not figure out which model corresponding which data? such as in 'kitti_pose_error_data_test_00.pickle' ,I find the resized_img_dims=[400,120],but in the ' DeepPoseCorrectorStereoFullPose()'，it require the [120,400].

[csufangyu]

and I meet a other error ,could you help me?thanks very much!
/home/robot/fangyu_pytorch/bin/python /home/robot/PycharmProjects/dpc-net/test_dpc_net.py --seqs 00 --corr pose seq_00_epoch_*_best* Detected epoch 11 as the best one. /media/raid5-array/experiments/Deep-PC/stereo_vo_results/baseline/2011_10_03_drive_0027.mat ./model/train_data//2011_10_03_drive_0027.mat Precision: tensor([[ 3.6357e+02, -1.1857e+01, 5.3185e+00, 7.5689e+01, 6.1028e+03, -8.8971e+02], [-1.1857e+01, 1.6634e+02, -1.0424e+01, -2.7295e+03, 2.9713e+01, 2.2445e+02], [ 5.3185e+00, -1.0424e+01, 8.8109e+01, 2.2399e+02, 1.3458e+02, 8.4700e+01], [ 7.5689e+01, -2.7295e+03, 2.2399e+02, 5.7759e+05, -2.5851e+04, 5.0211e+03], [ 6.1028e+03, 2.9713e+01, 1.3458e+02, -2.5851e+04, 3.1012e+05, 5.9603e+04], [-8.8971e+02, 2.2445e+02, 8.4700e+01, 5.0211e+03, 5.9603e+04, 4.4049e+05]]). Loading trained model: ./data/pose/seq_00_epoch_11_best.pth.tar ... Done. Testing with sequence 00... Num test samples: 1135 /home/robot/PycharmProjects/dpc-net/losses.py:192: UserWarning: volatile was removed and now has no effect. Use with torch.no_grad():instead. target_T_inv = Variable(se3_inv(target).cuda(async=True), volatile=True) /home/robot/PycharmProjects/dpc-net/losses.py:193: UserWarning: volatile was removed and now has no effect. Usewith torch.no_grad():instead. precision = Variable(precision.cuda(async=True), volatile=True) /home/robot/PycharmProjects/dpc-net/losses.py:194: UserWarning: volatile was removed and now has no effect. Usewith torch.no_grad():instead. stereo_img_1 = Variable(torch.cat((image_quad[0], image_quad[1]), 1).cuda(), volatile=True) /home/robot/PycharmProjects/dpc-net/losses.py:195: UserWarning: volatile was removed and now has no effect. Usewith torch.no_grad(): instead. stereo_img_2 = Variable(torch.cat((image_quad[2], image_quad[3]), 1).cuda(), volatile=True) Test: [0/35] Time 3.327 (avg: 3.327) Loss 1.87E-01 (avg: 1.87E-01) Test: [20/35] Time 0.669 (avg: 0.809) Loss -3.65E-01 (avg: -1.20E-01) Test: [35/35] Time 0.390 (avg: 0.747) Loss -3.26E-01 (avg: -1.06E-01) Saving corrected TrajectoryMetrics to: ./results/corrected/seq_00_corr_pose_epoch_11.mat Saving test corrections and predictions to: ./results/corrected/seq_00_corr_pose_epoch_11_corr_only_p_delta_4.mat Baseline Log Squared Norm (Trans / Rot): 0.01719 (m) / 0.00004063 (a-a) Corrected Log Squared Norm (Trans / Rot): 0.01701 (m) / 0.00004037 (a-a) Baseline Mean Norm (Trans / Rot): 60.22385 (m) / 0.31860 (a-a) Corrected Mean Norm (Trans / Rot): 16.25901 (m) / 0.07169 (a-a) Baseline Seg Length Err (Trans / Rot): 2.87413 (%) / 0.01118 (deg/m) Corrected Seg Length Err (Trans / Rot): 1.57226 (%) / 0.00586 (deg/m) Perfectly Corrected Seg Length Err (Trans / Rot): 0.10250 (%) / 0.00055 (deg/m) Saving to ./data/pose/stats/00_topdown.pdf Traceback (most recent call last): File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 293, in <module> main() File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 112, in main vis.plot_topdown(outfile=topdown_filename) File "/home/robot/pyslam-master/pyslam/visualizers.py", line 117, in plot_topdown fig.savefig(outfile) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/figure.py", line 2035, in savefig self.canvas.print_figure(fname, **kwargs) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/backend_bases.py", line 2263, in print_figure **kwargs) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/backends/backend_pdf.py", line 2586, in print_pdf self.figure.draw(renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/artist.py", line 55, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/figure.py", line 1475, in draw renderer, self, artists, self.suppressComposite) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/image.py", line 141, in _draw_list_compositing_images a.draw(renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/artist.py", line 55, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/axes/_base.py", line 2607, in draw mimage._draw_list_compositing_images(renderer, self, artists) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/image.py", line 141, in _draw_list_compositing_images a.draw(renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/artist.py", line 55, in draw_wrapper return draw(artist, renderer, *args, **kwargs) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/axis.py", line 1192, in draw renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/axis.py", line 1130, in _get_tick_bboxes extent = tick.label1.get_window_extent(renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/text.py", line 922, in get_window_extent bbox, info, descent = self._get_layout(self._renderer) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/text.py", line 300, in _get_layout ismath=False) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/backends/backend_pdf.py", line 2148, in get_text_width_height_descent renderer=self) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/texmanager.py", line 501, in get_text_width_height_descent dvifile = self.make_dvi(tex, fontsize) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/texmanager.py", line 365, in make_dvi texfile], tex) File "/home/robot/fangyu_pytorch/lib/python3.6/site-packages/matplotlib/texmanager.py", line 335, in _run_checked_subprocess stderr=subprocess.STDOUT) File "/usr/lib/python3.6/subprocess.py", line 336, in check_output **kwargs).stdout File "/usr/lib/python3.6/subprocess.py", line 403, in run with Popen(*popenargs, **kwargs) as process: File "/usr/lib/python3.6/subprocess.py", line 709, in __init__ restore_signals, start_new_session) File "/usr/lib/python3.6/subprocess.py", line 1344, in _execute_child raise child_exception_type(errno_num, err_msg, err_filename) FileNotFoundError: [Errno 2] No such file or directory: 'latex': 'latex'

[demplo]

Thanks for your work! I run your code as README, but when i run your code ,I meet a problem as fellows:

seq_00_epoch_*_best* Detected epoch 11 as the best one. Traceback (most recent call last): File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 276, in <module> main() File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 76, in main test_stats, tm_dict = run_test(seq, epoch, correction_type, 'sparse', paths) File "/home/robot/PycharmProjects/dpc-net/test_dpc_net.py", line 165, in run_test test_loader = DataLoader(KITTIOdometryDataset(kitti_config['kitti_data_file'], img_type=train_config['img_type'], transform_img=transform_img, run_type='test', remap_kitti_folder=paths['kitti_img']), File "/home/robot/PycharmProjects/dpc-net/utils.py", line 87, in __init__ self.load_kitti_data(run_type) #Loads self.image_quad_paths and self.labels File "/home/robot/PycharmProjects/dpc-net/utils.py", line 92, in load_kitti_data kitti_data = pickle.load(handle) ModuleNotFoundError: No module named 'liegroups.se3'
could you help me?Thanks very much!

@csufangyu how did you solve this? is it the pickle file containing an outdated reference to the module?
normally the module hierarchy should be liegroups.numpy.se3

[kzamzam]

Did anyone use this network with another dataset?