matchnorm_release's Introduction

MatchNorm

This repository contains python scripts of paper Match Normalization:Learning-based Point Cloud Registration for 6D Object Pose Estimation in the Real World.

Prerequisites

BOP Toolkit before running the code please setup the path for loading the BOP Benchmark data.
TUD-L, LINEMOD and Occluded-LINEMOD
conda env create -f environment.yml

Command Line

Training

python scratch.py --mode='ori' --bop_dataset='tudl'

Testing

[mAP Metric]

python scratch.py --mode='ckpt' --bop_dataset='tudl' --exp_name='bpnet_tudl'

python scratch.py --mode='ckpt' --bop_dataset='lm' --exp_name='bpnet_lm'

python scratch.py --mode='ckpt' --bop_dataset='lmo' --exp_name='bpnet_lm'

[BOP Metric]

python eval_bop19.py --result_filenames='zheng-bpnet_tudl-test.csv'

python eval_bop19.py --result_filenames='zheng-bpnet_lm-test.csv'

python eval_bop19.py --result_filenames='zheng-bpnet_lmo-test.csv'

Pretrained Model

pretrained models are saved at ./ckpt
bop benchmark result files are saved at ./bop_res

Citation

@inproceedings{Zheng2022,
    title={Learning-based Point Cloud Registration for 6D Object Pose Estimation in the Real World},
    author={Dang, Zheng and Wang, Lizhou and Guo, Yu and Salzmann, Mathieu},
    booktitle = {European Conference on Computer Vision(ECCV) 2022},
    month = {October},
    year={2022}
}

License

MIT License

matchnorm_release's People

Stargazers

Watchers

Forkers

hiyyg

matchnorm_release's Issues

ImportError: cannot import name 'train_iteration' from 'utils.train'

When I run python scratch.py --mode='ori' --bop_dataset='tudl', I get an error. I checked train.py and there is only one function in it.

Traceback (most recent call last):
  File "scratch.py", line 16, in <module>
    from utils.train import train_iteration, validate
ImportError: cannot import name 'train_iteration' from 'utils.train'