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chrischoy / DeepGlobalRegistration

[CVPR 2020 Oral] A differentiable framework for 3D registration
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Multiway registration module taking forever in Open3D implementation #32

Open preethamam opened 3 years ago

preethamam commented 3 years ago

I followed your "Section 5.2. Multiway Registration" details and I implemented DGR as the pairwise registration module in Open3D multiway registration example. When I tested on the Indoor LIDAR dataset (e.g. bedroom) it is taking forever for pairwise registration due to 220 fragments. Also, for many examples in the dataset, when I use the first few (6 nos.) fragments, the registration is bad.

How long did it take for your implementation?

Could you please share the multiway registration module that you used for your paper?

lfxx commented 3 years ago

I followed your "Section 5.2. Multiway Registration" details and I implemented DGR as the pairwise registration module in Open3D multiway registration example. When I tested on the Indoor LIDAR dataset (e.g. bedroom) it is taking forever for pairwise registration due to 220 fragments. Also, for many examples in the dataset, when I use the first few (6 nos.) fragments, the registration is bad.

How long did it take for your implementation?

Could you please share the multiway registration module that you used for your paper?

hi,did you download the pretrained models?the urls seem broken.Hope you can send these pretrained models to me.

preethamam commented 3 years ago

@lfxx please use the Mozilla Firefox browser. Google Chrome has some issues (maybe security risks).

lfxx commented 3 years ago

@lfxx please use Mozilla Firefox browser. Google Chrome has some issue (may be security risks). If you still cannot download it, please use this link. It expires in 24 hours. Please download it soon.

Download them sucessfully,Thank you!

pranavgundewar commented 2 years ago

Hi @preethamam can you please share your modified multiway registration script?

Thank you!

Vaishali-Nimilan commented 2 years ago

@preethamam @pranavgundewar Hey, I am working with the 3D match dataset in DGR. But I don't understand the text file format they use for the input. eg: 7-scenes-chess@seq-01_000.npz 7-scenes-chess@seq-01_001.npz 0.886878

I can see the first two variables are the names of the clouds. I don't understand the context of 0.886878 here. I doubt if its intensity. Can you please let me know if you can? Thank you in advance.