GeoTransformer
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qinzheng93
[CVPR2022] Geometric Transformer for Fast and Robust Point Cloud Registration
I would like to replicate this model on the KITTI dataset. During the data preparation phase, I discovered that the ground truth does not match the pose in the dataset....
According to the Readme: Ubuntu 20.04, GCC 9.3.0, Python 3.8, PyTorch 1.7.1, CUDA 11.1 and cuDNN 8.1.0.torch==1.7.1+cu110, the following problems occur： Traceback (most recent call last): File "trainval.py", line 62,...
It took me 5.7 hours to train the model for 3 epochs on a 3090 GPU using preset parameters, which is really beyond the acceptable range.Is the time consumption normal?
I triad to run this code but I got this error: FileNotFoundError: [Errno 2] No such file or directory: '..../Downloads/GeoTransformer-main/data/3DMatch/data/train/rgbd-scenes-v2-scene_01/cloud_bin_2.pth' I downloaded the data 3DMatch from here https://github.com/prs-eth/OverlapPredator but it...
Hello, your work is really great. I admire your scientific research spirit. I found that there is no evaluation of Chamfer Distance in the test indicators of the ModelNet40 dataset....
Thanks for your job! when i did some work based on your models, I found that the total RTE after tested all kitti_dataset was not equal to the average RTE...
Hellow author, I used demo.py to test my own src.npz and ref.npz files, and directly used geotransformer-3dmatch.pth.tar, but the effect was not very good, may I ask how I should...
When I apply geotransformer in my data,but get a bad result
Model.eval() needs to be added in the demo.py for the model be in evaluation mode. Being stuck in training mode enables this line of code which uses the ground truth...
Hello, Thank you for your work and publishing the source code! Why did you choose to put the ground truth correspondences in the forward pass of the model. This makes...
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[CVPR2022] Geometric Transformer for Fast and Robust Point Cloud Registration