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README.md
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---
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license: mit
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tags:
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- point-cloud
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- 3d-registration
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- geometric-features
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- pytorch
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- minkowski-engine
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---
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# Fully Convolutional Geometric Features (FCGF)
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Pretrained weights for **Fully Convolutional Geometric Features**, ICCV 2019.
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- Paper: [Fully Convolutional Geometric Features](https://node1.chrischoy.org/data/publications/fcgf/fcgf.pdf)
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- Code: [chrischoy/FCGF](https://github.com/chrischoy/FCGF)
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FCGF extracts dense 3D geometric features in a single forward pass through a 3D fully-convolutional network, built on [MinkowskiEngine](https://github.com/NVIDIA/MinkowskiEngine). These checkpoints are the official weights released with the paper, previously hosted on `node1.chrischoy.org` and mirrored here.
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## Model Zoo
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All models use the `ResUNetBN2C` backbone.
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| File | Normalized Feature | Dataset | Voxel Size | Feature Dimension | Performance |
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|:-----------------------------------------------|:-------------------:|:-------:|:-------------:|:-----------------:|:--------------------------:|
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| [2019-08-19_06-17-41.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-08-19_06-17-41.pth) | True | 3DMatch | 2.5cm (0.025) | 32 | FMR: 0.9578 +- 0.0272 |
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| [2019-09-18_14-15-59.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-09-18_14-15-59.pth) | True | 3DMatch | 2.5cm (0.025) | 16 | FMR: 0.9442 +- 0.0345 |
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| [2019-08-16_19-21-47.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-08-16_19-21-47.pth) | True | 3DMatch | 5cm (0.05) | 32 | FMR: 0.9372 +- 0.0332 |
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| [2019-07-31_19-30-19.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-07-31_19-30-19.pth) | False | KITTI | 20cm (0.2) | 32 | RTE: 0.0534m, RRE: 0.1704° |
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| [2019-07-31_19-37-00.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/2019-07-31_19-37-00.pth) | False | KITTI | 30cm (0.3) | 32 | RTE: 0.0607m, RRE: 0.2280° |
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| [KITTI-v0.3-ResUNetBN2C-conv1-5-nout16.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/KITTI-v0.3-ResUNetBN2C-conv1-5-nout16.pth) | True | KITTI | 30cm (0.3) | 16 | RTE: 0.0670m, RRE: 0.2295° |
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| [KITTI-v0.3-ResUNetBN2C-conv1-5-nout32.pth](https://huggingface.co/chrischoy/FCGF/resolve/main/KITTI-v0.3-ResUNetBN2C-conv1-5-nout32.pth) | True | KITTI | 30cm (0.3) | 32 | RTE: 0.0639m, RRE: 0.2253° |
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`redkitchen-20.ply` is the sample point cloud used by [`demo.py`](https://github.com/chrischoy/FCGF/blob/master/demo.py) in the FCGF repo.
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## Usage
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```python
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import torch
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from urllib.request import urlretrieve
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urlretrieve(
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"https://huggingface.co/chrischoy/FCGF/resolve/main/2019-09-18_14-15-59.pth",
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"ResUNetBN2C-16feat-3conv.pth")
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checkpoint = torch.load("ResUNetBN2C-16feat-3conv.pth")
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```
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See [chrischoy/FCGF](https://github.com/chrischoy/FCGF) for the full model definition (`ResUNetBN2C`) and feature extraction code.
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## Citation
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```bibtex
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@inproceedings{FCGF2019,
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author = {Christopher Choy and Jaesik Park and Vladlen Koltun},
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title = {Fully Convolutional Geometric Features},
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booktitle = {ICCV},
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year = {2019},
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}
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```
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