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Jiang-HB / VBReg

Robust Outlier Rejection for 3D Registration with Variational Bayes (Accepted by CVPR-2023)
MIT License
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issue2 #4

Open zyy1234q opened 3 months ago

zyy1234q commented 3 months ago

I noticed that you use 0.03cm voxels to downsample, and your comparison method is 0.05cm voxels downsample, is this an unfair comparison?

Jiang-HB commented 3 months ago

We also use voxel-size with 0.05m to pre-process the data. Please refer to the misc/cal_fcgf.py and misc/cal_fpfh.py for more details.

zyy1234q commented 3 months ago

Is it reasonable to use the pre-trained model you provided to run an RR of 92.81?Since I only have 24G of video memory, so numnode=5000, instead of 'all', this effect will not go from 93.53->92.81.

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Jiang-HB commented 3 months ago

Is it possible to increase the number of nodes from 5000 to 8000 or 10000? A smaller number of nodes could indeed degrade the final performance.

zyy1234q commented 3 months ago

your video memory has more 24G？

---- Replied Message ---- | From | @.> | | Date | 07/09/2024 11:20 | | To | Jiang-HB/VBReg @.> | | Cc | zyy1234q @.>, Author @.> | | Subject | Re: [Jiang-HB/VBReg] issue2 (Issue #4) |

Is it possible to increase the number of nodes from 5000 to 8000 or 10000? A smaller number of nodes could indeed degrade the final performance.

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Jiang-HB commented 3 months ago

I tested the model on both the V100 (32GB) and the TITAN RTX (24GB). Both tests were successful without encountering any ‘out of memory’ errors. Therefore, it’s advisable to increase the numnode value as much as possible on your machine with 24G memory. The numnode of 5000 is too small.

zyy1234q commented 3 months ago

all used “all”?

---- Replied Message ---- | From | @.> | | Date | 07/09/2024 11:31 | | To | Jiang-HB/VBReg @.> | | Cc | zyy1234q @.>, Author @.> | | Subject | Re: [Jiang-HB/VBReg] issue2 (Issue #4) |

I tested the model on both the V100 (32GB) and the TITAN RTX (24GB). Both tests were successful without encountering any ‘out of memory’ errors. Therefore, it’s advisable to increase the numnode value as much as possible on your machine with 24G memory. The numnode of 5000 is too small.

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Jiang-HB commented 3 months ago

Yes, I suggest adding an if-else statement at Line 40 in "test_3DMatch.py" to prevent this error. For example, if numnode > 10000 (determined by yourself), you can clip them to 10000 using src_keypts[:, :10000]. As such, you can constrain the scale of too large input.

zyy1234q commented 3 months ago

OK，thansks

---- Replied Message ---- | From | @.> | | Date | 07/09/2024 11:47 | | To | Jiang-HB/VBReg @.> | | Cc | zyy1234q @.>, Author @.> | | Subject | Re: [Jiang-HB/VBReg] issue2 (Issue #4) |

Yes, I suggest adding an if-else statement at Line 40 in "test_3DMatch.py" to prevent this error. For example, if numnode > 10000 (determined by yourself), you can clip them to 10000 using src_keypts[:, :10000]. As such, you can constrain the scale of too large input.

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zyy1234q commented 1 month ago

Hello author, what do the horizontal and vertical coordinates in the diagram mean, and then, if I want to draw such a diagram how it should work