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sc2-pcr-plusplus's Issues

issue

您好作者在你的SC2_PCR.py代码中第336行
//distance = torch.sqrt(2 - 2 * (src_desc[0] @ tgt_desc[0].T) + 1e-6)这里不应该是distance = torch.sqrt(2 - 2 * (src_desc @ tgt_desc.T) + 1e-6)吗，为什么要用第一个批次形成的粗匹配去做

About FPFH Matching on KITTI

Thanks for your nice work!

On the KITTI benchmark, how do you preprocess point cloud and extract FPFH descriptor?

I implement it by myself but get a low success ratio. The code is here. Config file is here.

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