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PointCloudLibrary / pcl

Point Cloud Library (PCL)
https://pointclouds.org/
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GeneralizedIterativeClosestPoint bad results when data isn't centered #1147

Open jmerkle opened 9 years ago

jmerkle commented 9 years ago

The Generalized ICP implementation gives much worse results when data isn't centered around the mean of the target pointcloud (i.e. subtracting mean of target pointcloud from all points) prior to registration. With my data i consistently get a fitness score of ~90 when not centering data, while centered data gives a score of 0. Point to Point, Point to Plane and Nonlinear ICP all work fine when data isn't centered.

I'm using a Matlab-Wrapper with Matlab data and i'm not really supposed to give out that data so i can't attach it here. If you have trouble reproducing this let me know and i'll figure something out. I'm working on PCL 1.7.2 in Visual Studio 2010 64. I couldn't find a fix for this in the trunk version.

stale[bot] commented 4 years ago

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.