Comments (1)
My suggestion would be tuning down the threshold a little bit. There are 2 main threshold in this method:
- The ratio of votes (in stage B. Compute Pose Candidates) compared to the most voted pose (I use 0.3 here):
https://github.com/ktgiahieu/Fast-PPF/blob/master/include/PPF/MyPPFRegistration.hpp#L435 - The ratio of votes (in stage C. Pose Verification) compared to the most voted pose (I use 0.5 here)::
https://github.com/ktgiahieu/Fast-PPF/blob/master/include/PPF/MyPPFRegistration.hpp#L554
If those 2 doesn't work out. You can try decreasing t_sampling here for better performance (but it will increase runtime):
https://github.com/ktgiahieu/Fast-PPF/blob/master/include/PPF/PPF.h#L18
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Related Issues (16)
- result misalignment HOT 12
- Code questions HOT 3
- This code seems to rely on VTK? HOT 1
- Error : Instance no Aligned! HOT 33
- This project keeps crashing and instances are not aligned when running HOT 9
- How to adjust the parameters of the background filter HOT 3
- The bad results of the test data you gave
- something wrong about the program
- Add the acos in computePPFPairFeature ,is it really right? HOT 3
- About the issue of a too small 'leaf_size' in large-scale point cloud filtering. HOT 1
- Migration Application for this Project. HOT 7
- Step6 Visualization results in automatic exit HOT 8
- 招聘 HOT 1
- Compile PCL error
- Compile the PCL problem HOT 1
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