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MIT-SPARK / TEASER-plusplus

A fast and robust point cloud registration library
MIT License
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[BUG] Can't work with large point clouds (bad_alloc) #182

Closed Lurvelly closed 3 months ago

Lurvelly commented 3 months ago

Describe the bug Hi all, I'm trying to registry a point clouds with 161817 vertices, but Eigen throw std bad alloc error. I found the function "teaser::RobustRegistrationSolver::computeTIMs" trying to alloc a lagre Eigen::Matrix with 3 rows and (N * (N-1) / 2 ) cols. ( In my case, it's 13092289836 cols) https://github.com/MIT-SPARK/TEASER-plusplus/blob/baf69d948d77e8fe496a82e2fa3b1f41a9b1156f/teaser/src/registration.cc#L485

Have you run the unit tests? Yes

Installed Dependencies

Distributor ID: Ubuntu Description: Ubuntu 20.04.4 LTS Release: 20.04 Codename: focal

Eigen: 3.3.7-2 Boost: 1.71.0.0ubuntu2

To Reproduce

Just trying to registry a large point clouds.

Additional context Screenshot from 2024-03-28 03-03-47

jingnanshi commented 3 months ago

Please first find correspondences. TEASER++ takes corresponding keypoints instead of raw point clouds.

Lurvelly commented 3 months ago

Please first find correspondences. TEASER++ takes corresponding keypoints instead of raw point clouds.

Hi, Jingnan

Thanks for you response.

Is there any methods that you recommend to extract keypoints from the raw point cloud ? I would like to use TEASER++ find the correct rigid transformation for relocation. But I don't know which method to extract keypoints can work well with TEASER++.