./cpd-rigid never terminates

gadomski / cpd

C++ implementation of the Coherent Point Drift point set registration algorithm.

http://www.gadom.ski/cpd

GNU General Public License v2.0

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./cpd-rigid never terminates #142

Closed ghost closed 4 years ago

ghost commented 4 years ago

Hello!

Thank you for this great job and for making it available to everyone!

I would like to use CPD for pose estimation. When I run ./cpd-rigid with two .csv files (each has around 9K points), it never terminates. What may cause such a problem?

Thank you!

gadomski commented 4 years ago

A couple of things to check:

Make sure you're building cpd in release mode -- debug mode will slow things down a lot.
Try making your own cpd executable that utilizes the newly added callback mechanism to notify each iteration.
Try with a much smaller file and then incrementally increase the file size.

Good luck, let me know how it goes!

ghost commented 4 years ago

Great! Thank you. I followed your advice and checked with 3K point, and it returned some results. I will increase the file size and check again. Thank you again.

ghost commented 4 years ago

I am curious why did you suggest me to incrementally increase the file size?

I also would like to ask about the point sizes. Is it important that each of 2 point clouds has the same number of points (while aligning them)?

gadomski commented 4 years ago

I am curious why did you suggest me to incrementally increase the file size?

Just to get a sense if things are working correctly on your machine. Rigid cpd with 10k points should take a while (a couple of minutes or more).

Is it important that each of 2 point clouds has the same number of points (while aligning them)?

Nope, they don't have to be the same.

ghost commented 4 years ago

thank you!