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lijx10 / USIP

USIP: Unsupervised Stable Interest Point Detection from 3D Point Clouds. ICCV 2019
GNU General Public License v3.0
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Is the curvature used? #7

Closed XuyangBai closed 4 years ago

XuyangBai commented 4 years ago

Hi @lijx10, I was trying to calculate the repeatability for KITTI dataset. I found that in kitti_test_loader.py the input to detector contains the surface normal (sn_x, sn_y, sn_z and curvature). But in kitti_test_prepare.m, I think you doesn't save the curvature in file, so I wonder in which step do you calculate the curvature? And how do you generate the npy file in the folder np_0.20_20480_r90_sn?

lijx10 commented 4 years ago

The curvature is computed using standard PCL python wrapper: https://github.com/strawlab/python-pcl

XuyangBai commented 4 years ago

Thanks a lot .