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meiqua / pose_refine

cuda icp for 6D pose estimation
BSD 2-Clause "Simplified" License
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kdtree building does not stop #8

Closed joy-yjl closed 4 years ago

joy-yjl commented 4 years ago

When I use the code to building kdtree, it enters an endless loop, and there are always new nodes that can be split.

meiqua commented 4 years ago

Do your point clouds have many exact same points, for example, many (0, 0, 0)?

meiqua commented 4 years ago

I guess it's because those points always go one side, so splitting won't stop. You can refer to this commit to test. Now it has same chance to go both side.

joy-yjl commented 4 years ago

I guess it's because those points always go one side, so splitting won't stop. You can refer to this commit to test. Now it has same chance to go both side.

thank you for your reply. this new commit fixed this bug. Now it works.