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einsnull / ndt_gpu

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why so different result when using GPU and PCL #4

Open shen1994 opened 4 years ago

shen1994 commented 4 years ago

  1. In PCL, result is: transformation: 0.771538 -0.63617 0.0041792 1.84571 0.636166 0.771548 0.00230967 0.634927 -0.00469379 0.000876668 0.999989 0.00566839 0 0 0 1 Time cost:0.175583 Normal Distributions Transform has converged:1 score: 0.694524

  2. in GPU, result is: transformation: 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 Time cost:0.002879 Normal Distributions Transform has converged:0 score: 1.56257
shen1994 commented 4 years ago

In PCL, result is: transformation: 0.771538 -0.63617 0.0041792 1.84571 0.636166 0.771548 0.00230967 0.634927 -0.00469379 0.000876668 0.999989 0.00566839 0 0 0 1 Time cost:0.175583 Normal Distributions Transform has converged:1 score: 0.694524

in GPU, result is: transformation: 0.753145 -0.657489 0.0219242 2.01461 0.657332 0.753457 0.014739 0.0717241 -0.0262097 0.00331083 0.999651 0.0253124 0 0 0 1 Time cost:0.046457 Normal Distributions Transform has converged:1 score: 2.12766

shen1994 commented 4 years ago

the accuracy between two methods is too large

shen1994 commented 4 years ago

I have tested your recoded codes, the transformation of gpu is better than this of pcl