DROID-SLAM
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princeton-vl
Scale problem of droid-slam
Hi authors, Thanks for your amazing work. I have a question about scale of camera pose. I use ZED camera to collect data and compare camra pose of ZED and droid-slam. Blue dot means camera pose of ZED and red dot means camera pose of droid-slam.
I find some scale problems of droid-slam. Could you tell me how to solve the scale problem of camera pose? Thanks.
Were you able to solve this? I'm seeing something similar. I expect good scale because I seed the initial samples with actual measured poses. But the scale seems to shrink after it gets beyond these initial values.
Thanks @gyes00205. But I'm not using a stereo camera. So I don't think that solution works for me. However, I did find that the training dataloader scales the world coordinates by 1/5. And the results are not scaled back up afterwords. I'm not sure why this is. But by scaling my inputs by 1/5 and my outputs back up by 5 afterwords, I was able to get my expected results.
Thanks @gyes00205. But I'm not using a stereo camera. So I don't think that solution works for me. However, I did find that the training dataloader scales the world coordinates by 1/5. And the results are not scaled back up afterwords. I'm not sure why this is. But by scaling my inputs by 1/5 and my outputs back up by 5 afterwords, I was able to get my expected results.
Hi, I encounter with same problem. I want to set GT pose, only evaluating 3D reconstruction. Can you explain how to do ? thank you so much
Thanks @gyes00205. But I'm not using a stereo camera. So I don't think that solution works for me. However, I did find that the training dataloader scales the world coordinates by 1/5. And the results are not scaled back up afterwords. I'm not sure why this is. But by scaling my inputs by 1/5 and my outputs back up by 5 afterwords, I was able to get my expected results.
Hello, I meet the save problem, have you solved it? I set gt w2c for each iter, but depth tend to be worse.
