How can I use your PointNetVLAD code for localization (place retrieval)

[roycyh]

I have read your paper about PointNetVLAD and run the code you provide on the Github. It is really a great work.

Now, I would like to use PointNetVLAD for place localization (or point cloud retrieval) using the global descriptor. In fact, I see a lot of similar work you have done in your paper. For example, the work of figure 4. You used the query point clouds to retrieve the corresponding point clouds.

Now, I would like to perform the similar task as you did in figure 4. However, the code provided on the github is more likely to evaluate the performance of the network.

I would like to know what code you used to realize the above function (figure 4 in paper) so that it can get a retrieved point cloud with a input one. Otherwise, how can I use the existing code on github to fulfill this task?

In fact, I have sent this message to your email mikacuy@comp.nus.edu.sg. It seems that the address has expired. You may update it if you do not mind.

Thanks.

[mikacuy]

Hi,

Sorry, but I do not have the code for this anymore, but I can walk you through the process.

I manually visualized these examples in MATLAB. You can pick an example and get the index of the retrieved cloud and map it back to the filename using the pickle files in generating_queries/

Then you can visualize the points clouds using the .bin files using the software you're most comfortable with.

[roycyh]

Hi,

Sorry, but I do not have the code for this anymore, but I can walk you through the process.

I manually visualized these examples in MATLAB. You can pick an example and get the index of the retrieved cloud and map it back to the filename using the pickle files in generating_queries/

Then you can visualize the points clouds using the .bin files using the software you're most comfortable with.

Thanks for replying. Could you please tell me how to get the index of the retrieved cloud with a picked example, and what file should I map back in detail? You may talk more about which files or functions I should use.

In fact, I would like to get some advice on which files or which functions can I use to 1) extract the global descriptor and 2)retrieved the corresponding point cloud.

By the way, you mentioned that you use MATLAB for visualization. Did you use the code of plot_pointcloud_path.m provide in the submap_generation/?

[bobododosjl]

Have u solved this problem?Extract the global descriptor.