nianticlabs/map-free-reloc

Reproduce the results on 7scenes dataset

MisEty opened this issue · 3 comments

MisEty commented

Hi
Thanks for your greate work! I want to reproduce the results on 7scenes dataset but there are many config settings and I am a little confused. How can I run as the paper, e.g. using all mapping frames and get the results in Figure 6?

Best regards,
Peng

eduardohenriquearnold commented

Hi @MisEty . You can find a comprehensive guide in the 7Scenes benchmark evaluation section.

For feature matching baselines you will need to download the pairs indices, feature matches and estimated depthmaps, as detailed here. For RPR baselines you can download our pre-trained models (trained on Scannet), as detailed here.

To get the results in Table 6, you can use the command template provided here. You will use the configurations from config/matching/sevenscenes and config/regression/scannet, for matching and regression baselines, respectively. You'll also need use the appropriate flags: --one_nn for RPR and feature matching and --triang for pose triangulation.

Note that the regression baselines evaluated on 7Scenes were trained on Scannet, thus why the latter folder is called Scannet.

MisEty commented

Thanks for your help! I will try to evaluate on 7scenes and update my results.

eduardohenriquearnold commented

I'll close this issue for now. Feel free to reopen or create a new one in case you have more questions.