Simulation data

[amine-chaabouni]

Hello,

I am trying to use your work in a simulation data registration. I started with a simple example. I am working with Webots and ROS. After getting a pointcloud from a Lidar, I convert it to an Open3D PointCloud object and save it to a ply file. I then use the demo file (and the pretrained models that you provided) to register the cloud to itself (expecting an identity transformation) However, I get this result:

Do you have any idea why this is happening ?

[yewzijian]

Hi, if you can run it on the provided point clouds successfully, I suspect (although not sure) that it's due to domain difference between the training data and your dataset. It does look quite different from the 3DMatch point clouds, particularly the point density.

[amine-chaabouni]

Hi, Thank you for your response. So, training the pre-trained model on a similar dataset as the point clouds I'm using will make it performant for my case?

[yewzijian]

I believe thats certainly worth trying. The point clouds do look quite high quality.

On Wed, 19 Apr 2023 at 7:40 PM, amine-chaabouni @.***> wrote:

Hi, Thank you for your response. So, training the pre-trained model on a similar dataset as the point clouds I'm using will make it performant for my case?

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[lcxiha]

Hello,

I am trying to use your work in a simulation data registration. I started with a simple example. I am working with Webots and ROS. After getting a pointcloud from a Lidar, I convert it to an Open3D PointCloud object and save it to a ply file. I then use the demo file (and the pretrained models that you provided) to register the cloud to itself (expecting an identity transformation) However, I get this result:

Do you have any idea why this is happening ?

Hello, may I ask if your dataset contains not only two frame point cloud transformation matrices, but also the overlapping scores of two point clouds? What is the role of overlapping scores? Looking forward to your reply.

[lcxiha]

Hello,

I am trying to use your work in a simulation data registration. I started with a simple example. I am working with Webots and ROS. After getting a pointcloud from a Lidar, I convert it to an Open3D PointCloud object and save it to a ply file. I then use the demo file (and the pretrained models that you provided) to register the cloud to itself (expecting an identity transformation) However, I get this result:

Do you have any idea why this is happening ?

Hi，may I consult if the simulation point cloud data you are using is in the global coordinate system or the carrier coordinate system？