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nmellado / Super4PCS

Efficient Global Point-cloud registration
http://nmellado.github.io/Super4PCS/
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Code error #53

Closed weiquanmao closed 6 years ago

weiquanmao commented 6 years ago

There might be a code error at super4pcs.cc#L209,

#ifdef MULTISCALE
  BruteForceFunctor
  <PairCreationFunctor<Scalar>::Point, 3, Scalar> interFunctor;
#else
...

which I think should be 

#ifdef MULTISCALE
  BruteForceFunctor
  <PairCreationFunctor<Scalar>::Primitive, PairCreationFunctor<Scalar>::Point, 3, Scalar> interFunctor;
#else
...

By the way, does it work to use MULTISCALE for aligning point clouds with scale variation?

nmellado commented 6 years ago

Thanks for the report.

Yes, setting MULTISCALE adds relative scale factor estimation. This option is not documented as the current implementation has not been carefully tested, and is obviously time consuming.

Please share your feedback on that thread, if any.

Cheers