Here is the TSD code.
The code is tested with Pytorch 1.6.0 with CUDA 10.2.89. Prerequisites include scipy, h5py, tqdm, etc. Your can install them by yourself.
Compile the C++ extension module for python located in cpp_wrappers. Open a terminal in this folder, and run:
sh compile_wrappers.sh
The 3DMatch and KITTI datasets can be download from:
https://github.com/XuyangBai/D3Feat
Start training with the command:
python train.py
Start testing with the command:
python test.py --chosen_snapshot
The code is insipred by D3Feat, KPConv, etc.