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chrischoy / DeepGlobalRegistration

[CVPR 2020 Oral] A differentiable framework for 3D registration
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Scale translation in kitti_loader.py #6

Closed anhquancao closed 4 years ago

anhquancao commented 4 years ago

Hello,

Thank you for your great work. In file https://github.com/chrischoy/DeepGlobalRegistration/blob/master/dataloader/kitti_loader.py from line 176 to 182.

I don't see you scale the ground truth translation. Is it a bug?

chrischoy commented 4 years ago

No its not a bug.

It's already in SI units.

anhquancao commented 4 years ago

I don't see how is it related to SI units?

I thought if we scale the 2 point clouds, we also need to scale the translation between them.

chrischoy commented 4 years ago

Please read the evaluation metrics and how the features are extracted.