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XuyangBai avatar XuyangBai commented on June 19, 2024

Hi, I am not sure whether you are asking the keypoint for training or not. But as you can see here, I choose randomly selected point as keypoint for training

PPF-FoldNet/input_preparation.py

Lines 52 to 56 in 63af940

def select_referenced_point(pcd, num_patches=2048):
# A point sampling algorithm for 3d matching of irregular geometries.
pts = np.asarray(pcd.points)
num_points = pts.shape[0]
inds = np.random.choice(range(num_points), num_patches, replace=False)

For testing, 3DMatch do provide keypoints which are also randomly generated.

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yokinglou avatar yokinglou commented on June 19, 2024

Thanks for your reply. I ask keypoints that used for geometric registration task, since you provide a link to download the intermediate files which include the keypoints for registration. Are these keypoints provided by 3DMatch and generated randomly (like you said for testing)?

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XuyangBai avatar XuyangBai commented on June 19, 2024

They are provided by 3DMatch and I think also generated randomly ...

See https://vision.princeton.edu/projects/2016/3DMatch/#geometric-registration-benchmark

image

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yokinglou avatar yokinglou commented on June 19, 2024

Get it. Thanks.

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