Closed AlexSkyline closed 2 years ago
First, ICP is the fastest solution for registration. SLAC is a dense approach for non-rigid point cloud deformation and could be significantly slower. Second, SLAC requires a constructed pose graph with multi-way registration (which depends on ICP). The pose graph you provided is empty, so there are no entries updated in the SLAC matrix, leading to the singular condition. In your case please fall back to ICP. If speed is an issue with very dense point clouds, down sample them following the tutorial.
Thank you for your response I have to further understand the ICP in this case to further improve speed and accuracy
Hi everyone, Due to speed problems with the "registration_icp" function I am trying to use the "run_slac_optimizer_for_fragments" function instead only I get the following error "[Open3D Error] (void open3d :: core :: OPEN3D_LAPACK_CHECK (long long, const std :: string &)) /Users/pc/Downloads/Open3D/cpp/open3d/core/linalg/LinalgUtils.h:59: gels failed in SolveCPU: singular condition detected. "
I experiment a little in all directions but not finding an example of use I am a little blocked.