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deep_blind_pnp's Issues

How to visualize

Hi,Thx for your great work!!
After completing the test process, how to visualize it. For example, point cloud and image visualization before and after matching

Focal length

Thank you so much for your code.

It seems that the focal length '800' is not used in the code. I wonder how to project the 3d data to align the 2d data.

I use the validation data, and use project_2d = 3d * I_3; The result is as follows:

Screen Shot 2021-01-12 at 5 24 11 PM

How can I make the projection align? Thank you so much.

Pose Learning

Hello,
Thank you for your contribution with Deep Blind PnP!
I have been trying to replicate your best model by using the pose loss as shown in section 3.4 of the paper. However i have found some difficulties in producing it. Do you restart the whole training configurations (ex. learning rate) from 1e-3 again or just resume from the model? I have been trying with restarting the learning rate with 1e-3 with no success.

Instead of decreasing, the probability loss keeps increasing. Do i still need to include the original 'BlindPnPLoss' during the second stage of training?

Thank you!

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