How to get keypoints in intermediate files?

[yokinglou]

Thanks for your implementation of PPF-FoldNet.

I am curious about how to generate the keypoints in intermediate files. Are these keypoints generated by your algorithms or provided by 3DMatch?

Best,
Yoking

[XuyangBai]

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.

[yokinglou]

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)?

[XuyangBai]

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

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

[yokinglou]

Get it. Thanks.