About FPFH Matching on KITTI

[qiaozhijian]

Thanks for your nice work!

On the KITTI benchmark, how do you preprocess point cloud and extract FPFH descriptor?

I implement it by myself but get a low success ratio. The code is here. Config file is here.

[BorSch90]

For FPFH features, you're missing the critical

src_features = src_features / (np.linalg.norm(src_features, axis=1, keepdims=True) + 1e-6)
tgt_features = tgt_features / (np.linalg.norm(tgt_features, axis=1, keepdims=True) + 1e-6)

at line 24 in your code file

[qiaozhijian]

Thanks. I will try.