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pankhurivanjani avatar pankhurivanjani commented on May 29, 2024 2

~/tandem/tandem$ ./build/bin/tandem_dataset preset=dataset result_folder=./results files=/home/shu/Downloads/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/images calib=/home/shu/Downloads/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/camera.txt mvsnet_folder=/home/shu/Examples/tandem/cva_mvsnet mode=1

There seems to be some typo with readme so the model has been provided but it is there in this path

tandem/tandem/exported/tandem

This is my output:

(tandem-exp) vanjani@port-2118:~/tandem/tandem/build$ ./bin/tandem_dataset preset=dataset result_folder=/home/vanjani/results files=/home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/images calib=/home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/camera.txt mvsnet_folder=/home/vanjani/tandem/tandem/exported/tandem mode=1
loading data from /home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/images!
loading calibration from /home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/camera.txt!
Loading MVSNet from /home/vanjani/tandem/tandem/exported/tandem/!
PHOTOMETRIC MODE WITHOUT CALIBRATION!

=============== TANDEM Settings: ===============
	Setting 'dataset':
	- no real-time enforcing
	- 2000 active points
	- 5-7 active frames
	- 1-6 LM iteration each KF
	- TSDF fusion: yes
	- dense tracking on cpu (step=1)
	- Pangolin
	  - Fullscreen: 0
	  - Mesh: 1
	  - Smaller Images: 1

Reading Calibration from file /home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/camera.txt ... found!
Input resolution: 640 480
In: 436.225021 436.225021 310.162763 256.946041 0.000000
Out: Rectify Crop
Output resolution: 640 480
finding CROP optimal new model!
initial range: x: -0.7181 - 0.7613; y: -0.5949 - 0.5141!
iteration 00001: range: x: -0.7145 - 0.7575; y: -0.5949 - 0.5141!
iteration 00002: range: x: -0.7109 - 0.7537; y: -0.5949 - 0.5141!
iteration 00003: range: x: -0.7109 - 0.7537; y: -0.5919 - 0.5115!
iteration 00004: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090!
iteration 00005: range: x: -0.7109 - 0.7537; y: -0.5890 - 0.5090!

Rectified Kamera Matrix:
 436.27       0 310.165
      0  436.28  256.95
      0       0       1

NO PHOTOMETRIC Calibration!
Reading Photometric Calibration from file 
PhotometricUndistorter: Could not open file!
set timestamps and exposures to zero!
set EXPOSURES to zero!
got 2778 images and 0 timestamps and 0 exposures.!
ImageFolderReader: got 2778 files in /home/vanjani/euroc_tandem_format_1.1.beta/euroc_tandem_format/V1_01_easy/images!
using pyramid levels 0 to 3. coarsest resolution: 80 x 60!

----DRMVSNET Initalizing fusion----

----DRMVSNET Initalizing fusion done----
DrMvsnet torch::cuda::is_vailable == true --> seems good
View Num: 7, ref index: 5
[W BinaryOps.cpp:467] Warning: floor_divide is deprecated, and will be removed in a future version of pytorch. It currently rounds toward 0 (like the 'trunc' function NOT 'floor'). This results in incorrect rounding for negative values.
To keep the current behavior, use torch.div(a, b, rounding_mode='trunc'), or for actual floor division, use torch.div(a, b, rounding_mode='floor'). (function operator())
Correctness:
	Depth correct     : 1, error: 0.000665135
	Confidence correct: 1, error: 0.000441843
Correctness:
	Depth correct     : 1, error: 0.000665166
	Confidence correct: 1, error: 0.000441809
Correctness:
	Depth correct     : 1, error: 0.000665188
	Confidence correct: 1, error: 0.000441806
Correctness:
	Depth correct     : 1, error: 0.000665184
	Confidence correct: 1, error: 0.000441807
Correctness:
	Depth correct     : 1, error: 0.000665187
	Confidence correct: 1, error: 0.000441804
Correctness:
	Depth correct     : 1, error: 0.000665187
	Confidence correct: 1, error: 0.000441807
Correctness:
	Depth correct     : 1, error: 0.00066518
	Confidence correct: 1, error: 0.000441806
Correctness:
	Depth correct     : 1, error: 0.000665187
	Confidence correct: 1, error: 0.000441806
Correctness:
	Depth correct     : 1, error: 0.000665185
	Confidence correct: 1, error: 0.000441804
Performance:
	CallAsync     : 8.25375 ms
	Ready         : 0 ms
	GetResult     : 378.74 ms
All looks good!
INITIALIZE FROM INITIALIZER (2043 pts)!


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lkskstlr avatar lkskstlr commented on May 29, 2024

@pankhurivanjani Thank you for the helpful comment :)

@PeterFWS I will close this issue, feel free to re-open if necessary.

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