Shubodh Sai

Extract RGB-D images directly as robot navigates?

3

Hello, Is there a provision to extract and store RGBD images (and corresponding pose) at desirable locations as the robot navigates through the environment? Thanks.

covisibility clustering for InLoc

4

I mentioned this in another issue [here](https://github.com/cvg/Hierarchical-Localization/issues/7#issuecomment-1402724284) but felt it's worth opening a separate issue since "covisibility clustering for InLoc" is considered a valuable contribution as mentioned in [README](https://github.com/cvg/Hierarchical-Localization#contributions-welcome). Referencing...

> > > CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): > catkin_package() DEPENDS on 'libfreenect' but neither > 'libfreenect_INCLUDE_DIRS' nor 'libfreenect_LIBRARIES' is defined. > Call Stack (most recent call first): > /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102...

Bug: --opt_div_matching always evaluates to True

1

Usage of arg parser for `--opt_div_matching` is wrong in [the code](https://github.com/JanghunHyeon/PCLoc/blob/ff04c4e1ccb4b75925ddeab0db7dc3e1ce5fd16a/main_inference.py#L66). It's a string which always evaluates to True [here](https://github.com/JanghunHyeon/PCLoc/blob/ff04c4e1ccb4b75925ddeab0db7dc3e1ce5fd16a/main_inference.py#L152) irrespective of keyword provided, will only evaluate to False if...

always evaluated to True previously irrespective of keyword, now corrected it. Explained more in [Issue #4.](https://github.com/JanghunHyeon/PCLoc/issues/4)

MSLS mismatch in number of queries

2

Thank you for the wonderful repo, Berton. Regarding Mapillary SLS or MSLS dataset in regards to standard VPR benchmarking: Standard VPR methods like MixVPR, SALAD use MSLS_Val for testing their...