Reproduce Co-Fusion paper result on car4 and room4

[ung264]

Hi,

I managed to run and build the software in ubuntu 20.04. However, when I evaluate the results for car4 and room4, I found that the camera AT RMSE is 5cm and 14cm, which are much higher than the error indicated in the paper. I used scripts from https://github.com/martinruenz/dataset-tools to evaluate the result for RGBD image sequence of car4 and room4.

I have tried both the default command line arguments and the example command line arguments from dataset tools by adding
-segMinNew 0.008
-crfSmooth 1
-crfPos 0.51
But neither of them gives same results as mentioned in the paper.

Do you have any idea what could be the reason? Could you share the parameters that I can use to reproduce the result? Thanks!

[EdwardjkFeng]

Hi,

I also tried to run it on these two sequences recently. I used the example command line arguments from dataset tools as well. The ATE of car4 and room4 I obtained are 2.7cm and 1.4cm respectively. Although they are still not as good as the ones reported in the paper, they look more promising than yours.

Here's the arguments I used:

./CoFusion -basedir path/to/car4-full/ -dir colour -depthdir depth_noise  -run -ep -colorprefix Color -depthprefix Depth -cal calibration.txt -segMinNew 0.008   -crfSmooth 1   -crfPos 0.51 -exportdir estimate -maskprefix nomask -es -keep

Could you share more details about the command you used to run it? For example, did you specify the calibration parameters using -cal. This would be a possible reason you obtained such a large ATE.

[ung264]

Hi,

@EdwardjkFeng Thanks for your reply. I was on another project and just started to pick up this project recently.

I am using exactly the same command as you. I build the project in docker nvidia/cuda:11.5.2-devel-ubuntu20.04 image.
Here is the dockerfile
Dockerfile.txt

Here are the estimated pose files.
poses-0.txt
poses-1.txt
poses-2.txt
poses-3.txt

Could you maybe share more information about your environment, and your estimated pose files? Then I can evaluate the error on your estimated pose file at my side, to rule out any problem in the evaluation script.

Looking forward to your reply. Thanks!