NAN appears when training

[JesseZZZZZ]

Hi @lahavlipson , have you tried training DPVO on other datasets beside TartanAir? I tried to train it on TUM (using _build_dataset from raw RGB and depth maps), but all values became NAN, do you know the issue? (t1[0] and t2[0] are all NANs). Thank you so much!

[JesseZZZZZ]

Hi, dear authors, it turns out that the nomalization step will cause NANs in poses

After I delete the two lines of codes like I did in the picture, the issue disappeared. Do you think that simply deleting the codes is available? Or are there any other ways to solve this issue? THANKS!

[markinruc]

@JesseZZZZZ Hello！ I met the same problem. Have you solved it?

[JesseZZZZZ]

@markinruc Well, for the NAN in the image it was because some values in my depth maps are 0, and the inverse depth calculation results in NAN (1/0). Another NAN in inference is that my model was so bad....After I trained it for some epochs the NAN disappeared