The ground truth relative pose of frames in 3DMatch dataset

[MrZ19]

Hi, thank your for your sharing. I have one question, when train on the 3DMatch, the ground truth relative pose is generated randomly, are the original frames with same pose?

-------------------- threedmatch_loader.py, line 64~ line 72 ----------------------- if self.random_rotation: T0 = sample_random_trans(xyz0, self.randg, self.rotation_range) T1 = sample_random_trans(xyz1, self.randg, self.rotation_range) trans = T1 @ np.linalg.inv(T0)

  xyz0 = self.apply_transform(xyz0, T0)
  xyz1 = self.apply_transform(xyz1, T1)
else:
  trans = np.identity(4)

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