PatchAugNet
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PatchAugNet: Patch feature augmentation-based heterogeneous point cloud place recognition in large-scale street scenes
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if save: # global desc g_desc_pkl = os.path.join(g_desc_dir, f"{beg_idx + b_i}.bin") with open(g_desc_pkl, 'wb') as handle: pickle.dump(g_desc, handle, protocol=pickle.HIGHEST_PROTOCOL) # local desc l_desc_pkl = os.path.join(l_desc_dir, f"{beg_idx + b_i}.bin") with open(l_desc_pkl,...