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ispc-lab / HRegNet

[ICCV 2021] HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration
MIT License
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Question in CoarseReg class #6

Closed sYANGunique1111 closed 2 years ago

sYANGunique1111 commented 2 years ago

Hello,

Thank you for your generosity to share the code. However I got stuck when I come to the forward() function of CoarseReg class.

屏幕截图 2022-01-27 111733

What I understand about line 249 and line 255 is that you want to gather k nearest cosine neighbors in src for keypoints in dst and k nearest neighbors in dst for keypoints in src. I didn't understand why you used src_knn_idx for both cases? I assume it should be dst_knn_idx instead in line 249, because it gathers k nearest neighbors in src to keypoints in dst.

Best regards.

FanLu97 commented 2 years ago

Hello, This operation does not aim to gather k nearest cosine neighbors in src for keypoints in dst and k nearest neighbors in dst for keypoints in src. We only search k nearest neighbors in dst for each keypoint in src, and this operation aims to obtain the bilateral similarity of the candidate corresponding points (from src_dst_cos_norm and dst_src_cos_norm).

sYANGunique1111 commented 2 years ago

Hello, I understand, thank you for the answer

FanLu97 commented 2 years ago

Resolved, close.