steps to register 3rd-party rigid point cloud parts?

[chqzeng]

Hi authors,

great work on the point cloud registration! I am very new to this work, but I have a few point clouds in .xyz format with relative start position x/y of each other. I would like to try this package and evaluate how well in registering those parts.

• How to input some 3rd party .xyz file and use existing trained model (e.g. ThreeDMatch's best.pth) for a registration?
  I see there is config.py file where I can set the .dataset and test but not sure exactly how to do it, as my files are not the same format as the existing datasets.

• is there any issues I need to process before processing?
  for example, my dataset would be shape of about 5mx5m real world size with a few million points each part. how do I setup the voxel_size_0 and voxel_size_1 in the config.py file?
  I see existing datasets may have attributes like relt_pose, which does not have in my dataset, will that be an issue?
  any other issues I may face to not give me an appropriate result?

• narrow down with start position x/y. our data is measured with roughly accurate start position x/y to align the parts, but no relt_pose exact file as in the .ply files in the database . Such basic align will narrow down the further registration. How can I input such start position x/y and direction for the processing?

• noise removal. My data is quite noisy, and I see there is some post processing in this package. I am wondering is there some step I should modify to better remove the noise?

• does this software package treat rigid and non-rigid differently? do I need any modification in the code?

thank you and really excited to see this great work!

CZ