Bug in Hierarchical Transformation

ispc-lab / HRegNet

[ICCV 2021] HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration

MIT License

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Bug in Hierarchical Transformation #3

Closed WinterCodeForEverything closed 2 years ago

WinterCodeForEverything commented 2 years ago

I think there's a mistake in Hierarchical Transformation from coarse to fine, the last element in transformation matrix should be 1 not 0, it will result the wrong translation. Maybe it can be fixed like this:

FanLu97 commented 2 years ago

Hi, @WinterCodeForEverything Thanks for pointing out this bug! We have updated the code. Besides, we have observed a performance improvement by fixing this bug. We will update the pre-train models in a few days. Thanks again!

FanLu97 commented 2 years ago

We have updated the pre-trained models and the code. Maybe you can clone the new version for testing.

WinterCodeForEverything commented 2 years ago

Ok, thanks.

FanLu97 commented 2 years ago

Please let me know if you have any new updates, thanks.

WinterCodeForEverything commented 2 years ago

Haha, sure.