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PyTorch PPF-FoldNet

This repo is the unofficial implementation for PPF-FoldNet(https://arxiv.org/abs/1808.10322v1) in pytorch.

Project Structure

Data

Prepara the date

Use script/download.sh to download all the training set from 3DMatch, and script/fuse_fragments_3DMatch.py to fuse rgbd frames into fragments.

And the intermediate file is downloaded from this link

Train the model

python train.py 

All the configuration is in the train.py. When you start training, the train.py and model.py will be saved in the snapshot/ folder and the tensorboard file is saved in tensorboard/.

Evaluate the model

See Geometric Registration for detail

Performance

ModelAverage Recall
PPF-FoldNet69.3%
Origin Paper71.8%
3DMatch57.3%

The model with best performance is in folder pretrained/