Questions about producing the newest results with the newest codes

[HowLeeHi]

Hi! Thank you so much for this amazing work!

I'm trying to produce the results with your newest codes. I followed the guidance in README and got beautiful results as follows:

1. For 3DMatch_250_prob:

Scene	¦ prec.	¦ rec.	¦ re	¦ te	¦ samples	¦
Kitchen	¦ 0.958	¦ 0.958	¦ 2.382	¦ 0.065	¦ 449¦
Home 1	¦ 0.906	¦ 0.906	¦ 2.618	¦ 0.087	¦ 106¦
Home 2	¦ 0.761	¦ 0.761	¦ 3.299	¦ 0.085	¦ 159¦
Hotel 1	¦ 0.945	¦ 0.945	¦ 2.425	¦ 0.083	¦ 182¦
Hotel 2	¦ 0.923	¦ 0.923	¦ 2.674	¦ 0.101	¦  78¦
Hotel 3	¦ 0.808	¦ 0.808	¦ 2.450	¦ 0.074	¦  26¦
Study	¦ 0.808	¦ 0.808	¦ 2.898	¦ 0.098	¦ 234¦
MIT Lab	¦ 0.733	¦ 0.733	¦ 2.916	¦ 0.106	¦  45¦
Mean precision: 0.855: +- 0.082
Weighted precision: 0.887
Mean median RRE: 2.708: +- 0.294
Mean median RTE: 0.087: +- 0.013
Inlier ratio w_mutual: 0.467 : +- 0.045
Feature match recall w_mutual: 0.968 : +- 0.024
Inlier ratio wo_mutual: 0.358 : +- 0.039
Feature match recall wo_mutual: 0.958 : +- 0.029

2. For 3DMatch_500_prob:

Scene	¦ prec.	¦ rec.	¦ re	¦ te	¦ samples	¦
Kitchen	¦ 0.967	¦ 0.967	¦ 1.971	¦ 0.057	¦ 449¦
Home 1	¦ 0.953	¦ 0.953	¦ 1.908	¦ 0.065	¦ 106¦
Home 2	¦ 0.780	¦ 0.780	¦ 2.552	¦ 0.081	¦ 159¦
Hotel 1	¦ 0.973	¦ 0.973	¦ 1.865	¦ 0.064	¦ 182¦
Hotel 2	¦ 0.923	¦ 0.923	¦ 2.322	¦ 0.069	¦  78¦
Hotel 3	¦ 0.808	¦ 0.808	¦ 2.752	¦ 0.046	¦  26¦
Study	¦ 0.833	¦ 0.833	¦ 2.440	¦ 0.094	¦ 234¦
MIT Lab	¦ 0.778	¦ 0.778	¦ 2.038	¦ 0.082	¦  45¦
Mean precision: 0.877: +- 0.080
Weighted precision: 0.906
Mean median RRE: 2.231: +- 0.310
Mean median RTE: 0.070: +- 0.014
Inlier ratio w_mutual: 0.510 : +- 0.044
Feature match recall w_mutual: 0.965 : +- 0.022
Inlier ratio wo_mutual: 0.407 : +- 0.043
Feature match recall wo_mutual: 0.957 : +- 0.036

3. For 3DMatch_1000_prob:

Scene	¦ prec.	¦ rec.	¦ re	¦ te	¦ samples	¦
Kitchen	¦ 0.976	¦ 0.976	¦ 1.845	¦ 0.052	¦ 449¦
Home 1	¦ 0.972	¦ 0.972	¦ 1.938	¦ 0.067	¦ 106¦
Home 2	¦ 0.780	¦ 0.780	¦ 2.389	¦ 0.077	¦ 159¦
Hotel 1	¦ 0.978	¦ 0.978	¦ 1.826	¦ 0.068	¦ 182¦
Hotel 2	¦ 0.949	¦ 0.949	¦ 1.800	¦ 0.069	¦  78¦
Hotel 3	¦ 0.808	¦ 0.808	¦ 2.414	¦ 0.053	¦  26¦
Study	¦ 0.846	¦ 0.846	¦ 2.227	¦ 0.090	¦ 234¦
MIT Lab	¦ 0.778	¦ 0.778	¦ 2.281	¦ 0.070	¦  45¦
Mean precision: 0.886: +- 0.085
Weighted precision: 0.916
Mean median RRE: 2.090: +- 0.247
Mean median RTE: 0.068: +- 0.011
Inlier ratio w_mutual: 0.532 : +- 0.044
Feature match recall w_mutual: 0.966 : +- 0.022
Inlier ratio wo_mutual: 0.434 : +- 0.043
Feature match recall wo_mutual: 0.962 : +- 0.030

4. For 3DMatch_2500_prob:

Scene	¦ prec.	¦ rec.	¦ re	¦ te	¦ samples	¦
Kitchen	¦ 0.971	¦ 0.971	¦ 1.770	¦ 0.049	¦ 449¦
Home 1	¦ 0.972	¦ 0.972	¦ 1.883	¦ 0.064	¦ 106¦
Home 2	¦ 0.761	¦ 0.761	¦ 2.508	¦ 0.074	¦ 159¦
Hotel 1	¦ 0.984	¦ 0.984	¦ 1.805	¦ 0.060	¦ 182¦
Hotel 2	¦ 0.936	¦ 0.936	¦ 1.800	¦ 0.061	¦  78¦
Hotel 3	¦ 0.885	¦ 0.885	¦ 2.672	¦ 0.062	¦  26¦
Study	¦ 0.850	¦ 0.850	¦ 2.032	¦ 0.078	¦ 234¦
MIT Lab	¦ 0.800	¦ 0.800	¦ 1.882	¦ 0.078	¦  45¦
Mean precision: 0.895: +- 0.079
Weighted precision: 0.915
Mean median RRE: 2.044: +- 0.327
Mean median RTE: 0.066: +- 0.009
Inlier ratio w_mutual: 0.542 : +- 0.043
Feature match recall w_mutual: 0.966 : +- 0.020
Inlier ratio wo_mutual: 0.444 : +- 0.043
Feature match recall wo_mutual: 0.961 : +- 0.028

5. For 3DMatch_5000_prob:

Scene	¦ prec.	¦ rec.	¦ re	¦ te	¦ samples	¦
Kitchen	¦ 0.976	¦ 0.976	¦ 1.765	¦ 0.050	¦ 449¦
Home 1	¦ 0.953	¦ 0.953	¦ 1.681	¦ 0.054	¦ 106¦
Home 2	¦ 0.748	¦ 0.748	¦ 2.293	¦ 0.073	¦ 159¦
Hotel 1	¦ 0.978	¦ 0.978	¦ 1.785	¦ 0.063	¦ 182¦
Hotel 2	¦ 0.962	¦ 0.962	¦ 1.598	¦ 0.063	¦  78¦
Hotel 3	¦ 0.846	¦ 0.846	¦ 2.511	¦ 0.058	¦  26¦
Study	¦ 0.838	¦ 0.838	¦ 1.952	¦ 0.081	¦ 234¦
MIT Lab	¦ 0.756	¦ 0.756	¦ 1.748	¦ 0.075	¦  45¦
Mean precision: 0.882: +- 0.091
Weighted precision: 0.909
Mean median RRE: 1.917: +- 0.300
Mean median RTE: 0.065: +- 0.010
Inlier ratio w_mutual: 0.535 : +- 0.042
Feature match recall w_mutual: 0.969 : +- 0.019
Inlier ratio wo_mutual: 0.430 : +- 0.041
Feature match recall wo_mutual: 0.957 : +- 0.032

For a summary, the recall rates on 3DMatch are

5000	2500	1000	500	250
88.2	89.5	88.6	87.7	85.5

However, I find that you have fixed a bug and got a higher performance, as follows, which is slightly better than what I produced with your newest codes. What's more, It seems like the results I produced are closer to the ones before you fixed the bug as follows:

Then, I try producing the results another time. This time, I got

5000	2500	1000	500	250
88.6	87.6	88.8	86.8	85.3

which is still closer to the results before fixing the bug.

To verify I got the right codes, I downloaded your released weight and test. It seems the results are correct and have few differences with the results you updated after fixing the bug.

5000	2500	1000	500	250
89.0	89.7	90.2	90.1	85.7

This has confused me for a long time. Could you help me figure out what's wrong with my training phase? I run your codes on one 2080Ti without any modification on the config. Thanks a lot!

[jun3333333]

Hi there, I'm currently exploring the model and I've encountered an issue: the links to download the data and weights files seem to be unavailable. If you happen to have these files, could you please share them with me at [email protected]? I'd greatly appreciate your assistance. Thank you so much!!

[jun3333333]

Hello, I encountered a FileNotFoundError after running: [Errno 2] No such file or directory: 'snapshot/indoor/est_traj/3DMatch/250/7-scenes-redkitchen/est.log'， There should be no predicted samples. If you have, please send a snapshot to my email: [email protected]

[jun3333333]

snapshot/indoor/est_traj/3DMatch/250 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/250 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/500 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/500 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/1000 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/1000 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/2500 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/2500 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList snapshot/indoor/est_traj/3DMatch/5000 0it [00:00, ?it/s] gt_folder: configs/benchmarks/3DMatch exp_dir: snapshot/indoor/est_traj/3DMatch/5000 tsfm_est shape: (0,) tsfm_est: [] Scene names: ['7-scenes-redkitchen', 'sun3d-home_at-home_at_scan1_2013_jan_1', 'sun3d-home_md-home_md_scan9_2012_sep_30', 'sun3d-hotel_uc-scan3', 'sun3d-hotel_umd-maryland_hotel1', 'sun3d-hotel_umd-maryland_hotel3', 'sun3d-mit_76_studyroom-76-1studyroom2', 'sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika'] Scene: 7-scenes-redkitchen, GT pairs: 506 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_at-home_at_scan1_2013_jan_1, GT pairs: 156 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-home_md-home_md_scan9_2012_sep_30, GT pairs: 208 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_uc-scan3, GT pairs: 226 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel1, GT pairs: 104 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-hotel_umd-maryland_hotel3, GT pairs: 54 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_76_studyroom-76-1studyroom2, GT pairs: 292 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Scene: sun3d-mit_lab_hj-lab_hj_tea_nov_2_2012_scan1_erika, GT pairs: 77 Warning: count 0 exceeds tsfm_est length 0. Skipping remaining pairs. Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 85, in benchmark_predator benchmark(exp_dir, gt_folder) File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 304, in benchmark re = rotation_error(torch.from_numpy(ext_gt_traj[:,0:3,0:3]), torch.from_numpy(est_traj[:,0:3,0:3])).cpu().numpy()[np.array(c_flag)==0] File "/home/user/OverlapPredator.Mink-master/lib/benchmark.py", line 27, in rotation_error e = torch.stack([(torch.trace(R_[, :, :]) - 1) / 2 for _ in range(R.shape[0])], dim=0).unsqueeze(1) RuntimeError: stack expects a non-empty TensorList (pytorch1) user@user-System-Product-Name:~/OverlapPredator.Mink-master$ for N_POINTS in 250 500 1000 2500 5000 do python scripts/evaluate_predator.py --source_path snapshot/indoor/3DMatch --n_points $N_POINTS --benchmark 3DMatch --exp_dir snapshot/indoor/est_traj --sampling prob done snapshot/indoor/est_traj/3DMatch/250 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/500 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/1000 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/2500 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0 snapshot/indoor/est_traj/3DMatch/5000 0it [00:00, ?it/s] Traceback (most recent call last): File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 124, in benchmark_predator(feats_scores, args.n_points, args.exp_dir, args.benchmark) File "/home/user/OverlapPredator.Mink-master/scripts/evaluate_predator.py", line 81, in benchmark_predator write_est_trajectory(gt_folder, exp_dir, tsfm_est) File "/home/user/OverlapPredator.Mink-master/lib/benchmark_utils.py", line 67, in write_est_trajectory est_traj.append(tsfm_est[count]) IndexError: index 0 is out of bounds for axis 0 with size 0

[jun3333333]

Hello author, I use my own source cloud and target cloud files to run demo.py for registration, the effect is not very good, may I ask how I can improve my registration effect？，Please send it to my email：[email protected]