| --- |
| title: Point Cloud Registration |
| emoji: 🧊 |
| colorFrom: blue |
| colorTo: gray |
| sdk: gradio |
| app_file: app.py |
| python_version: "3.10" |
| pinned: false |
| --- |
| |
| # Point Cloud Registration Demo |
|
|
| Interactive Gradio application for **pairwise point cloud registration** using Open3D and 3DMatch RedKitchen fragments. |
|
|
| ## Features |
|
|
| - **Demo Pairs**: Pre-selected point cloud pairs from 3DMatch RedKitchen dataset |
| - **Upload Mode**: Register your own point clouds |
| - **Multiple Algorithms**: |
| - RANSAC + ICP (global + local) |
| - RANSAC only (global) |
| - ICP only (local) |
| - **Hyperparameter Control**: Voxel size, normal radius, FPFH radius, RANSAC iterations, ICP iterations |
| - **Visualization**: Before/after 3D point clouds with colors |
| - **Metrics**: Fitness, RMSE, transformation matrix |
| - **Download**: Save aligned source point cloud |
|
|
| ## Usage |
|
|
| ### Run Locally |
|
|
| ```bash |
| pip install -r requirements.txt |
| python app.py |
| ``` |
|
|
| Then open `http://localhost:7860` in your browser. |
|
|
| ## Data Source |
|
|
| **3DMatch Geometric Registration Benchmark** - RedKitchen Scene |
| - Fragment dataset: Point clouds integrated from 50 depth frames using TSDF fusion |
| - Evaluation files: Ground-truth transformation matrices |
| - Reference: https://3dmatch.cs.princeton.edu/ |
|
|
| ## Pipeline |
|
|
| 1. **Load** source and target point clouds |
| 2. **Preprocess**: Remove non-finite points, remove duplicates, voxel downsample |
| 3. **Features**: Estimate normals, compute FPFH descriptors |
| 4. **Global Registration**: RANSAC-based feature matching |
| 5. **Local Registration**: ICP refinement |
| 6. **Visualization**: Before/after 3D views with metrics |
|
|
| ## Project Structure |
|
|
| ``` |
| ├── app.py # Main Gradio application |
| ├── requirements.txt # Python dependencies |
| ├── packages.txt # System dependencies |
| ├── README.md # This file |
| │ |
| ├── scripts/ |
| │ ├── inspect_3dmatch.py # Inspect dataset structure |
| │ ├── build_pair_index.py # Parse evaluation logs |
| │ ├── benchmark_pairs.py # Benchmark pairs with Open3D |
| │ └── prepare_demo_pairs.py # Prepare examples for demo |
| │ |
| ├── examples/ |
| │ ├── pair_metadata.json # Demo pair metadata |
| │ ├── redkitchen_pair_01_source.ply |
| │ ├── redkitchen_pair_01_target.ply |
| │ └── ... |
| │ |
| └── data/ |
| ├── raw/3dmatch/ # (local only, not pushed) |
| └── processed/ # (local only, not pushed) |
| ``` |
|
|
| ## Development |
|
|
| ### Prepare Data Locally |
|
|
| ```bash |
| # Download and unzip |
| mkdir -p data/raw/3dmatch |
| cd data/raw/3dmatch |
| wget https://3dvision.princeton.edu/projects/2016/3DMatch/downloads/fragments/7-scenes-redkitchen.zip |
| wget https://3dvision.princeton.edu/projects/2016/3DMatch/downloads/fragments/7-scenes-redkitchen-evaluation.zip |
| unzip -q 7-scenes-redkitchen.zip |
| unzip -q 7-scenes-redkitchen-evaluation.zip |
| cd ../../.. |
| |
| # Inspect |
| python scripts/inspect_3dmatch.py |
| |
| # Build index |
| python scripts/build_pair_index.py |
| |
| # Benchmark |
| python scripts/benchmark_pairs.py |
| |
| # Prepare examples |
| python scripts/prepare_demo_pairs.py |
| ``` |
|
|
| ## Notes |
|
|
| - Point clouds are stored using Git LFS (.gitattributes configured) |
| - Raw dataset and processed data are not pushed to repository |
| - Demo pairs are downsampled for performance (typically 30k-60k points) |
|
|
|
|
