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Point Cloud Registration Network

Source Code Author: Vinit Sarode, Xueqian Li and Animesh Dhagat

Dataset:

Path for dataset: Link

  1. Download 'train_data' folder from above link for iterative PCRNet.
  2. Download 'car_data' folder from above link for PCRNet.

Pretrained Model:

Download pretrained models from Link

How to use code:

Compile loss functions:

  1. cd utils/pc_distance
  2. make -f makefile_10.0 clean
  3. make -f makefile_10.0

Train Iterative-PCRNet:

  1. chmod +x train_itrPCRNet.sh
  2. ./train_itrPCRNet.sh

Train PCRNet:

  1. chmod +x train_PCRNet.sh
  2. ./train_PCRNet.sh

Train Partial PCRNet:

  1. python iterative_PCRNet_partial.py --mode train --log log_partial --use_noise_data True