Could you please release the preprocessing code of NDT construction?

[cloudcjf]

Hi, I'm quite interested in your amazing work. I notice that your model requires the input data as a structure of NDT(mean value and covariance matrix), while the Oxford dataset, as well as the inhouse_datasets, presented by PointNetVLAD, are original points(x,y,z). Could you please release the preprocessing code so I can test your work more easily? Many thanks.

[Liufangyu]

Hi, did you find some code of NDT(mean value and covariance matrix) ?