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YuhangMing / Semantic-Indoor-Place-Recognition

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lack of database point clouds #2

Closed k2room closed 1 year ago

k2room commented 1 year ago

Hi, I tried the codes and checked that it is trained well. But when I test the model, the number of database points cloud is lower than 236.

database contains 157 point clouds Total number of point cloud tested: 3451 With distance threshold3.0

YuhangMing commented 1 year ago

Hi,

Yes, it is the problem with the dataset. I only provided the zero-meaned point cloud in the dataset while when computing the database point clouds, the original point clouds are used.

I am updating the dataset now but it may take a while due to the internet speed.

In case you want to try the networks asap, here are the indices of the database point clouds. In the bracket, the first value is the index for the scene, e.g. 0 for scene0707_00, 99 for scene0806_00; and the second value is the index for the point cloud, e.g. [0 0] for scene0707_00_0_sub.ply, [98 6] for scene0805_00_300_sub.ply. The last value outside the bracket is the count of the database point cloud.

- ADDING NEW PCD TO DB: [0 0] 0
- ADDING NEW PCD TO DB: [0 6] 1
- ADDING NEW PCD TO DB: [1 0] 2
- ADDING NEW PCD TO DB: [1 5] 3
- ADDING NEW PCD TO DB: [ 1 10] 4
- ADDING NEW PCD TO DB: [ 1 13] 5
- ADDING NEW PCD TO DB: [2 0] 6
- ADDING NEW PCD TO DB: [2 7] 7
- ADDING NEW PCD TO DB: [ 2 13] 8
- ADDING NEW PCD TO DB: [3 0] 9
- ADDING NEW PCD TO DB: [ 3 13] 10
- ADDING NEW PCD TO DB: [4 0] 11
- ADDING NEW PCD TO DB: [4 5] 12
- ADDING NEW PCD TO DB: [5 0] 13
- ADDING NEW PCD TO DB: [6 0] 14
- ADDING NEW PCD TO DB: [7 0] 15
- ADDING NEW PCD TO DB: [7 5] 16
- ADDING NEW PCD TO DB: [8 0] 17
- ADDING NEW PCD TO DB: [8 4] 18
- ADDING NEW PCD TO DB: [8 9] 19
- ADDING NEW PCD TO DB: [9 0] 20
- ADDING NEW PCD TO DB: [9 4] 21
- ADDING NEW PCD TO DB: [9 8] 22
- ADDING NEW PCD TO DB: [ 9 13] 23
- ADDING NEW PCD TO DB: [ 9 16] 24
- ADDING NEW PCD TO DB: [10  0] 25
- ADDING NEW PCD TO DB: [10  4] 26
- ADDING NEW PCD TO DB: [10  8] 27
- ADDING NEW PCD TO DB: [11  0] 28
- ADDING NEW PCD TO DB: [11  3] 29
- ADDING NEW PCD TO DB: [11  6] 30
- ADDING NEW PCD TO DB: [11  9] 31
- ADDING NEW PCD TO DB: [12  0] 32
- ADDING NEW PCD TO DB: [12  5] 33
- ADDING NEW PCD TO DB: [13  0] 34
- ADDING NEW PCD TO DB: [14  0] 35
- ADDING NEW PCD TO DB: [14  7] 36
- ADDING NEW PCD TO DB: [14 16] 37
- ADDING NEW PCD TO DB: [14 24] 38
- ADDING NEW PCD TO DB: [15  0] 39
- ADDING NEW PCD TO DB: [15  4] 40
- ADDING NEW PCD TO DB: [15  9] 41
- ADDING NEW PCD TO DB: [16  0] 42
- ADDING NEW PCD TO DB: [17  0] 43
- ADDING NEW PCD TO DB: [18  0] 44
- ADDING NEW PCD TO DB: [19  0] 45
- ADDING NEW PCD TO DB: [20  0] 46
- ADDING NEW PCD TO DB: [21  0] 47
- ADDING NEW PCD TO DB: [22  0] 48
- ADDING NEW PCD TO DB: [23  0] 49
- ADDING NEW PCD TO DB: [24  0] 50
- ADDING NEW PCD TO DB: [25  0] 51
- ADDING NEW PCD TO DB: [26  0] 52
- ADDING NEW PCD TO DB: [26 14] 53
- ADDING NEW PCD TO DB: [26 22] 54
- ADDING NEW PCD TO DB: [27  0] 55
- ADDING NEW PCD TO DB: [27 22] 56
- ADDING NEW PCD TO DB: [27 38] 57
- ADDING NEW PCD TO DB: [28  0] 58
- ADDING NEW PCD TO DB: [29  0] 59
- ADDING NEW PCD TO DB: [29 46] 60
- ADDING NEW PCD TO DB: [29 56] 61
- ADDING NEW PCD TO DB: [30  0] 62
- ADDING NEW PCD TO DB: [31  0] 63
- ADDING NEW PCD TO DB: [31  5] 64
- ADDING NEW PCD TO DB: [32  0] 65
- ADDING NEW PCD TO DB: [33  0] 66
- ADDING NEW PCD TO DB: [33  7] 67
- ADDING NEW PCD TO DB: [34  0] 68
- ADDING NEW PCD TO DB: [35  0] 69
- ADDING NEW PCD TO DB: [36  0] 70
- ADDING NEW PCD TO DB: [37  0] 71
- ADDING NEW PCD TO DB: [37  4] 72
- ADDING NEW PCD TO DB: [37 12] 73
- ADDING NEW PCD TO DB: [38  0] 74
- ADDING NEW PCD TO DB: [38  8] 75
- ADDING NEW PCD TO DB: [39  0] 76
- ADDING NEW PCD TO DB: [39  6] 77
- ADDING NEW PCD TO DB: [40  0] 78
- ADDING NEW PCD TO DB: [40  3] 79
- ADDING NEW PCD TO DB: [40  9] 80
- ADDING NEW PCD TO DB: [40 60] 81
- ADDING NEW PCD TO DB: [40 83] 82
- ADDING NEW PCD TO DB: [41  0] 83
- ADDING NEW PCD TO DB: [41  5] 84
- ADDING NEW PCD TO DB: [42  0] 85
- ADDING NEW PCD TO DB: [42 50] 86
- ADDING NEW PCD TO DB: [42 54] 87
- ADDING NEW PCD TO DB: [43  0] 88
- ADDING NEW PCD TO DB: [44  0] 89
- ADDING NEW PCD TO DB: [45  0] 90
- ADDING NEW PCD TO DB: [45  3] 91
- ADDING NEW PCD TO DB: [45  7] 92
- ADDING NEW PCD TO DB: [46  0] 93
- ADDING NEW PCD TO DB: [46  6] 94
- ADDING NEW PCD TO DB: [46 12] 95
- ADDING NEW PCD TO DB: [47  0] 96
- ADDING NEW PCD TO DB: [47 37] 97
- ADDING NEW PCD TO DB: [47 43] 98
- ADDING NEW PCD TO DB: [48  0] 99
- ADDING NEW PCD TO DB: [48 13] 100
- ADDING NEW PCD TO DB: [48 56] 101
- ADDING NEW PCD TO DB: [49  0] 102
- ADDING NEW PCD TO DB: [49  5] 103
- ADDING NEW PCD TO DB: [49 25] 104
- ADDING NEW PCD TO DB: [50  0] 105
- ADDING NEW PCD TO DB: [50 14] 106
- ADDING NEW PCD TO DB: [50 22] 107
- ADDING NEW PCD TO DB: [50 36] 108
- ADDING NEW PCD TO DB: [50 65] 109
- ADDING NEW PCD TO DB: [51  0] 110
- ADDING NEW PCD TO DB: [51  7] 111
- ADDING NEW PCD TO DB: [52  0] 112
- ADDING NEW PCD TO DB: [52  5] 113
- ADDING NEW PCD TO DB: [53  0] 114
- ADDING NEW PCD TO DB: [53 10] 115
- ADDING NEW PCD TO DB: [54  0] 116
- ADDING NEW PCD TO DB: [54  7] 117
- ADDING NEW PCD TO DB: [54 36] 118
- ADDING NEW PCD TO DB: [54 48] 119
- ADDING NEW PCD TO DB: [55  0] 120
- ADDING NEW PCD TO DB: [55 12] 121
- ADDING NEW PCD TO DB: [56  0] 122
- ADDING NEW PCD TO DB: [57  0] 123
- ADDING NEW PCD TO DB: [58  0] 124
- ADDING NEW PCD TO DB: [59  0] 125
- ADDING NEW PCD TO DB: [59  3] 126
- ADDING NEW PCD TO DB: [60  0] 127
- ADDING NEW PCD TO DB: [61  0] 128
- ADDING NEW PCD TO DB: [61 17] 129
- ADDING NEW PCD TO DB: [62  0] 130
- ADDING NEW PCD TO DB: [63  0] 131
- ADDING NEW PCD TO DB: [63  5] 132
- ADDING NEW PCD TO DB: [63 13] 133
- ADDING NEW PCD TO DB: [63 19] 134
- ADDING NEW PCD TO DB: [63 27] 135
- ADDING NEW PCD TO DB: [64  0] 136
- ADDING NEW PCD TO DB: [65  0] 137
- ADDING NEW PCD TO DB: [65  6] 138
- ADDING NEW PCD TO DB: [65 11] 139
- ADDING NEW PCD TO DB: [66  0] 140
- ADDING NEW PCD TO DB: [67  0] 141
- ADDING NEW PCD TO DB: [67  4] 142
- ADDING NEW PCD TO DB: [67 11] 143
- ADDING NEW PCD TO DB: [67 20] 144
- ADDING NEW PCD TO DB: [67 31] 145
- ADDING NEW PCD TO DB: [68  0] 146
- ADDING NEW PCD TO DB: [68  7] 147
- ADDING NEW PCD TO DB: [68 14] 148
- ADDING NEW PCD TO DB: [69  0] 149
- ADDING NEW PCD TO DB: [69  9] 150
- ADDING NEW PCD TO DB: [69 16] 151
- ADDING NEW PCD TO DB: [69 20] 152
- ADDING NEW PCD TO DB: [69 39] 153
- ADDING NEW PCD TO DB: [69 45] 154
- ADDING NEW PCD TO DB: [69 54] 155
- ADDING NEW PCD TO DB: [69 59] 156
- ADDING NEW PCD TO DB: [70  0] 157
- ADDING NEW PCD TO DB: [70 12] 158
- ADDING NEW PCD TO DB: [70 21] 159
- ADDING NEW PCD TO DB: [71  0] 160
- ADDING NEW PCD TO DB: [72  0] 161
- ADDING NEW PCD TO DB: [73  0] 162
- ADDING NEW PCD TO DB: [73  5] 163
- ADDING NEW PCD TO DB: [73 14] 164
- ADDING NEW PCD TO DB: [73 20] 165
- ADDING NEW PCD TO DB: [74  0] 166
- ADDING NEW PCD TO DB: [74  8] 167
- ADDING NEW PCD TO DB: [74 18] 168
- ADDING NEW PCD TO DB: [74 27] 169
- ADDING NEW PCD TO DB: [75  0] 170
- ADDING NEW PCD TO DB: [75 15] 171
- ADDING NEW PCD TO DB: [76  0] 172
- ADDING NEW PCD TO DB: [76 13] 173
- ADDING NEW PCD TO DB: [77  0] 174
- ADDING NEW PCD TO DB: [77 13] 175
- ADDING NEW PCD TO DB: [78  0] 176
- ADDING NEW PCD TO DB: [78 11] 177
- ADDING NEW PCD TO DB: [78 18] 178
- ADDING NEW PCD TO DB: [78 44] 179
- ADDING NEW PCD TO DB: [79  0] 180
- ADDING NEW PCD TO DB: [79  6] 181
- ADDING NEW PCD TO DB: [80  0] 182
- ADDING NEW PCD TO DB: [80 18] 183
- ADDING NEW PCD TO DB: [80 26] 184
- ADDING NEW PCD TO DB: [80 46] 185
- ADDING NEW PCD TO DB: [81  0] 186
- ADDING NEW PCD TO DB: [81  5] 187
- ADDING NEW PCD TO DB: [81  9] 188
- ADDING NEW PCD TO DB: [81 23] 189
- ADDING NEW PCD TO DB: [81 26] 190
- ADDING NEW PCD TO DB: [82  0] 191
- ADDING NEW PCD TO DB: [82  3] 192
- ADDING NEW PCD TO DB: [82 13] 193
- ADDING NEW PCD TO DB: [82 19] 194
- ADDING NEW PCD TO DB: [83  0] 195
- ADDING NEW PCD TO DB: [83 11] 196
- ADDING NEW PCD TO DB: [84  0] 197
- ADDING NEW PCD TO DB: [84  3] 198
- ADDING NEW PCD TO DB: [84  7] 199
- ADDING NEW PCD TO DB: [84 19] 200
- ADDING NEW PCD TO DB: [85  0] 201
- ADDING NEW PCD TO DB: [85  8] 202
- ADDING NEW PCD TO DB: [86  0] 203
- ADDING NEW PCD TO DB: [86  6] 204
- ADDING NEW PCD TO DB: [86 13] 205
- ADDING NEW PCD TO DB: [86 20] 206
- ADDING NEW PCD TO DB: [86 25] 207
- ADDING NEW PCD TO DB: [86 45] 208
- ADDING NEW PCD TO DB: [87  0] 209
- ADDING NEW PCD TO DB: [88  0] 210
- ADDING NEW PCD TO DB: [89  0] 211
- ADDING NEW PCD TO DB: [89 11] 212
- ADDING NEW PCD TO DB: [90  0] 213
- ADDING NEW PCD TO DB: [90  5] 214
- ADDING NEW PCD TO DB: [90 10] 215
- ADDING NEW PCD TO DB: [90 18] 216
- ADDING NEW PCD TO DB: [91  0] 217
- ADDING NEW PCD TO DB: [91  4] 218
- ADDING NEW PCD TO DB: [92  0] 219
- ADDING NEW PCD TO DB: [92  7] 220
- ADDING NEW PCD TO DB: [92 12] 221
- ADDING NEW PCD TO DB: [93  0] 222
- ADDING NEW PCD TO DB: [93  4] 223
- ADDING NEW PCD TO DB: [93  8] 224
- ADDING NEW PCD TO DB: [94  0] 225
- ADDING NEW PCD TO DB: [95  0] 226
- ADDING NEW PCD TO DB: [95 10] 227
- ADDING NEW PCD TO DB: [95 21] 228
- ADDING NEW PCD TO DB: [96  0] 229
- ADDING NEW PCD TO DB: [96 13] 230
- ADDING NEW PCD TO DB: [97  0] 231
- ADDING NEW PCD TO DB: [98  0] 232
- ADDING NEW PCD TO DB: [98  6] 233
- ADDING NEW PCD TO DB: [98 13] 234
- ADDING NEW PCD TO DB: [99  0] 235
YuhangMing commented 1 year ago

original data points for the test scenes are also uploaded to here under the folders scans/scene_name/input_pcd.

YuhangMing commented 1 year ago

closed due to no more further discussions.