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Register a set of point clouds

Step I: Download yoho checkpoints:

Save back ckpt to yoho/ckpts/backbone Save yoho ckpt to yoho/ckpts/yoho

Step II: Run SGHR on your raw point clouds.

You can just save your point clouds (.ply/.pcd/.npy) to somewhere like data/demo. Then just run:

python demo.py --pcdir data/demo

The registration results will be saved to:

  • data/demo/registration/kpts: sampled kpts of the point clouds in "pc_dir" for yoho feature extraction;
  • data/demo/registration/yoho: yoho features of the point clouds in "pc_dir";
  • data/demo/registration/multi_reg: overlap.txt saving estimated overlap ratio, pose.txt saving the estimated pc pose.