Replicate Paper Results

[SOCFZI]

Hi,

Thank you for your valuable contribution and for making the code publicly available.

I am currently attempting to replicate the results presented in the published paper. To do so, I followed these steps:

Odometry Estimation: I used the odometry_gt.launch.py script available at this link.
Data Publishing: I utilized the kitti_pub.py script found here to publish the data.
Data Transformation: I employed the kitti_pub.py script alongside the evo tool) to convert the output data into the KITTI format.
Evaluation: For evaluating the KITTI odometric metrics, I relied on the code provided in Metrics.cpp.
Thank you in advance for your assistance. I appreciate your time and look forward to your guidance.

Best regards,
Sven

[taoziyyy]

Did you reproduce it? How's the accuracy?

[SOCFZI]

Yeah, the reported values for the KITTI dataset were. The last number is the average over all scenarios:

0.50 & 0.64 & 0.49 & 0.67 & 0.32 & 0.27 & 0.25 & 0.32 & 0.80 & 0.48 & 0.51 & 0.48
my results were:
0.47 & 1.48 & 1.10 & 0.43 & 0.53 & 0.38 & 0.44 & 0.27 & 0.71 & 0.47 & 0.42 & 0.60

[taoziyyy]

I would like to ask you some details about the reproduction of sage-ICP, can you leave your contact information?

[SOCFZI]

I described my process at the beginning of the issue, including the steps I took to reproduce the results.

[taoziyyy]

Ok, thanks for the reply and good luck with your work

[taoziyyy]

Sorry to bother you again about the need to import kiss-icp code in kitti_pub.py, how did you solve that?

[SOCFZI]

you don`t need kiss-icp for runining the kitti_pub.py. you just have to change/input the directory to the Kitti dataset there. There is no need for the kiss-icp code to be imported here.

the kitti_pub.py just publishes the data to the ROS-Framework and then the odometry-estimation of the sage-icp subscribes there and pusblishes the pose-estimation. this is then again used by the kitti_pub.py

[taoziyyy]

you don`t need kiss-icp for runining the kitti_pub.py. you just have to change/input the directory to the Kitti dataset there. There is no need for the kiss-icp code to be imported here.

the kitti_pub.py just publishes the data to the ROS-Framework and then the odometry-estimation of the sage-icp subscribes there and pusblishes the pose-estimation. this is then again used by the kitti_pub.py

Because I found the following code in kitti_pub.py, how did you solve that?
from kiss_icp.pybind import kiss_icp_pybind
self.correct_kitti_scan = lambda frame: np.asarray(
kiss_icp_pybind._correct_kitti_scan(kiss_icp_pybind._Vector3dVector(frame))
)

[shashenyiguang]

kiss-icp is a Python library that can be imported simply by installing it with pip.
pip install kiss-icp