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rabbityl / lepard

[CVPR 2022, Oral] Learning Partial point cloud matching in Rigid and Deformable scenes

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How to visualize the point cloud features?

Gardlin opened this issue · comments

commented

Hi,

Thank you for sharing your excellent work! I have read your paper recently, and I'm wondering how the draw the point clouds feature map like yours, which I think is really amazing.
I will be very appreciative if you can give me some idea about how to draw like this.
Thank you very much!

commented

We use TSNE to reduce the feature to dimension of 3, which is then mapped to the values in 3 RGB color channels. Then just paint the point with the colors.

commented

Hi, I have some question about the results in your paepr, how much sampled points do you use to get 69.0 and 93.5 registration recall in your paper. Do you have the results on sample 5000 2500 1000 500 250 points?
It would be very grateful if you can tell me the settings.
Thank you very much!