Comments (4)
fuzhao123232
commented on July 20, 2024
2
我是把所有的pose都跑了open3d的icp配准,然后只迭代一次,不然会很慢,这样就很快,几乎没花什么时间,然后配准的结果里面有fitness和rmse两个指标
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zhangxy0517
commented on July 20, 2024
适用。MAC的输入是匹配，因此对不同类型的点云是通用的，论文中我们也测试了模型数据库U3M。配准失败的原因可能是特征描述产生匹配的质量很低，也可能是参数设置不合理。
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fuzhao123232
commented on July 20, 2024
感谢作者的指教，已解决。作者的python代码中对final_trans的选择是计算了一个MAE分数，但是对我不适用，我将之替换为fitness（就是两点云的重叠面积），然后选择fitness最大的作为final_trans后，取得非常好的效果。只是很奇怪为什么会有这样的结果，还是说fitness比MAE更鲁棒？
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Guangyun-Xu
commented on July 20, 2024
感谢作者的指教，已解决。作者的python代码中对final_trans的选择是计算了一个MAE分数，但是对我不适用，我将之替换为fitness（就是两点云的重叠面积），然后选择fitness最大的作为final_trans后，取得非常好的效果。只是很奇怪为什么会有这样的结果，还是说fitness比MAE更鲁棒？
大佬，你的fitness是怎么算的，可否给个代码参考一下
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Related Issues (20)
- error report in python version HOT 9
- How to run this code?
- Linux version compiling error HOT 14
- RE < 15 and TE < 30? HOT 1
- About U3M dataset HOT 4
- Out of memory when testing 3DMatch Dataset with FPFH descriptors. HOT 4
- 数据集链接似乎失效了 HOT 2
- 请求提供更多的实验结果
- 请求提供geotransformer处理的3dmatch/3dlomatch数据集处理结果
- Parameter Conversion Errors: when Running C++ Code with igraph, PCL on Windows HOT 1
- 关于版本MSVC =2022 x64
- 您好，关于demo运行时间问题 HOT 1
- python调用c++版本mac出现segmentation falut
- 你好，关于在Linux中编译时igraph中出现了类型错误 HOT 4
- Problems with reproduction of registration results FPFH+MAC from the paper HOT 2
- 作者您好，我在结合FCGF和MAC在3DMatch数据集上测试了一下发现将体素大小设置为0.05的情况，部分最大团数量过多（2000万以上），这情况不知道您是否遇到，然后我将体素大小设为0.08，测试完和性能远不如原论文的性能，作者您当时是怎么解决这个问题的 HOT 7
- Wrong registration results. What can I do? HOT 3
- Graph Construction部分十分耗时 HOT 2
- 运行MAC的方式
- 请问python版本的和linux版本的性能一致吗？ HOT 1
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