csiro-robotics/Wild-Places

How to generate the is_revisit_.json for the LoGG3D evaluation?

uljad opened this issue · 4 comments

uljad commented

Thank you for your great work. What is the best way to generate the is_revisit json in case I want to evaluate the model using the Karawatha checkpoint and the respective data?

kavisha725 commented

You do not need the is_revisit json file to evaluate on the Wild-Places dataset.
Please follow the instructions in:

  • Sec 3.2: to generate test splits.
  • Extract and save LoGG3D descriptors for the above splits.
  • Sec 3.3 to run the evaluation.
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kavisha725 commented

I will add the dataloader needed for step 2 above in a few weeks.

  • 👍1
uljad commented

thank you. I am also trying to write one for the Karawatha based on the MulranDataset and the PointCould Inheritance. The existing dataloaders use .bin files that have the range information whereas the Wild Places dataset so far doesn't.

kavisha725 commented

I've added some utils for the dataloader.
See here for an example on how to add the dataloader for LoGG3D.