Question: in demo/cat fps nums is 9, not 8 default, in cat_points_3d.txt

[zkailinzhang]

pvnet/data/demo/cat_points_3d.txt

Line 9 in 1752c50

-2.315007150173187256e-04 2.015497535467147827e-03 1.328250020742416382e-02

and the trained model you supply, the number fps is 9fps,????
but ,in your literature compute 8fps by deflault

[zkailinzhang]

when i run demo.py, change vote_num=9, in line 29, error occur

RuntimeError: Error(s) in loading state_dict for Resnet18_8s:
        size mismatch for convraw.3.weight: copying a param of torch.Size([18, 32, 1, 1]) from checkpoint, where the shape is torch.Size([20, 32, 1, 1]) in current model.
        size mismatch for convraw.3.bias: copying a param of torch.Size([18]) from checkpoint, where the shape is torch.Size([20]) in current model.
Terminated

[zkailinzhang]

and the fps result ,fartherst data domain different,
in pvnet/data/demo/cat_points_3d.txt
2.178440988063812256e-02 -5.869993939995765686e-02 -4.146179929375648499e-02

in pvnet/data/LINEMOD/cat/farthest.txt
0.021784409880638123 -0.05869993939995766 -0.041461799293756485

[liuyuan-pal]

The default keypoints are 8 points sampled on the surface by FPS and the center of the object.

[pengsida]