/PointNetLK

This is the clean implementation of PointNetLK with pretrained models. (A 3D point cloud registration network)

Primary LanguagePythonMIT LicenseMIT

PointNetLK: Point Cloud Registration using PointNet

Source Code Author: Vinit Sarode

This code is tested using torch 1.3.0+cu92 and torchvision 0.4.1+cu92.

Code use:

  1. Train PointNet:

python train_classifier.py

  1. Train PointNetLK:

python main.py

  1. Test PointNetLK:

python test.py

  1. Test PointNetLK (with sample data):

python test_sample.py

Pretrained Models:

  1. best_model: PointNetLK pretrained model.
  2. best_ptnet_model: PointNet_features model.
  3. classifier: PointNet classification model.

Requirements:

  1. PyTorch
  2. ModelNet40 [Link]
  3. SciPy
  4. GPU Requirements: Approximately 6 GB of GPU memory for batch size = 16.

References:

  1. PointNetLK [paper]
  2. PointNetLK [github]
  3. PCRNet [github]
  4. DCP [github]

Sample Results:

Template: Red Point Cloud, Source: Green Point Cloud & Registration Result: Blue Point Cloud