About base.p error

[rrkmiao]

I tried to run your code, but found an error as follows: Traceback (most recent call last): File "/home/XXX/PycharmProjects/ICP_cov/venv/main.py", line 49, in icp.results(dataset, sequence, scan_ref, scan_in, Param.cov_ut) File "/home/XXX/PycharmProjects/ICP_cov/venv/icp.py", line 93, in results cov_base += 1/8*dataset.load(f_base)['cov_base'] File "/home/XXX/PycharmProjects/ICP_cov/venv/dataset.py", line 53, in load with open(file_name, "rb") as file_pi: FileNotFoundError: [Errno 2] No such file or directory: '/home/XXX/PycharmProjects/ICP_cov/venv/results/Mountain/base.p'

I've checked your code, I haven't figured out where the above file (base.p) is generated.

I'm a beginner for python, and I'm studying your work recently. Looking forward to your reply, thanks a lot!

[mbrossar]

The covariance presents in ['cov_base'] represents a static baseline covariance that can be used as a reference for comparison, see CELLO-3D: Estimating the Covariance of ICP in the Real World.

This variable is not used in our paper, you can simply remove it. For information, to compute it, I first need to compute results with this part of the line commented. Then, I compute again with code un commented such that cov_base represent a mean covariance (the factor 1/8 correspond to the 8 eight datasets).

[rrkmiao]

Thanks a lot for your reply!