Open aditya2592 opened 4 years ago
That's right for one ICP. Unlike rendering multiple poses, multiple ICPs may have different number of points, so I decided to use cuda per thread stream. A simple usage can be found here.
Thanks. If I want to run the code on a dataset of images, will the function process_batch in this file be the best one to refer to?
process_batch here is a test for multiple initial poses ICP around one targeted pose so we can jump out of the local minimum a little bit. You can refer to it if having similar problems.
What is the use of the below flag?
#ifdef USE_PROJ
switch between projective or nearest neighbor association
Thanks. If I want to run the code on a dataset of images, will the function process_batch in this file be the best one to refer to?
Hi!
Mat K = (Mat_
Mat K = (Mat_
Mat K = (Mat_
How did you get these initial data matrices?
Are these the camera's internal parameter matrix and external parameter rotation matrix and translation matrix?
Hi,
I wanted to understand how to you use the code to do multiple ICPs at once. I tried to look at test.cpp but that seems to be doing one ICP if I am not wrong