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您好，如果我想要将此模型用于配准自己的rgb图片与pcd点云，对于步骤有怎样的建议呢 #23

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Kanna-nnn opened this issue Dec 9, 2024 · 2 comments
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您好，如果我想要将此模型用于配准自己的rgb图片与pcd点云，对于步骤有怎样的建议呢 #23

Kanna-nnn opened this issue Dec 9, 2024 · 2 comments

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@Kanna-nnn
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@HpWang-whu
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Hi @Kanna-nnn ，
您可以先尝试Free-FreeReg，用起来比较简单，FreeReg-D可能需要一个从点云渲染深度图的pose，这个我们使用的是单位矩阵就是点云帧的采集位姿，需要检查你的数据是否符合这种假设。否则这个渲染pose可能需要一些调整或设计，后续我们也会尝试通过G+D两阶段方法来提升FreeReg的普适性。

@Novmaple
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这个pose是否就是代码里的外参？如果设计好了这个外参，如何使用自己的数据运行呢？

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@HpWang-whu @Novmaple @Kanna-nnn