Comments (2)
Thanks for your posts!
You are very welcome if you want to add support for Scannet!
You can start from the code in this file: https://github.com/luigifreda/pyslam/blob/master/dataset.py
A simple approach: I see in Scannet you can basically export the sensor images and intrinsics by using this python code
https://github.com/ScanNet/ScanNet/tree/master/SensReader/python
Then, you need
- to change
config.ini
(in the root folder ofpyslam
repo) in order to make the code use theFolderDataset
class fromdataset.py
: to this aim, inconfig.ini
, change the[DATASET]
type and update the fields in the[FOLDER_DATASET]
section
[DATASET]
; select your dataset (decomment only one of the following lines!)
type=FOLDER_DATASET
- use the exported intrinsics to fill a file like this and change the
cam_settings
field in the above mentioned[FOLDER_DATASET]
section to point at your new file
[FOLDER_DATASET]
type=folder
base_path=<YOUR DATASET PATH>
; name is used for specifying a glob pattern, e.g. *png, *jpeg, etc...
name=*png
cam_settings=<YOU INTRINSICS FILE>
; the following info is fake
groundtruth_file=groundtruth.txt
fps=<YOUR ESTIMATED FPS>
from pyslam.
Which are your favorite DNN Visual Odometry methods? Can you list them here?
from pyslam.
Related Issues (20)
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from pyslam.