meiqua / pose_refine Goto Github PK
View Code? Open in Web Editor NEWcuda icp for 6D pose estimation
License: BSD 2-Clause "Simplified" License
cuda icp for 6D pose estimation
License: BSD 2-Clause "Simplified" License
When I use the code to building kdtree, it enters an endless loop, and there are always new nodes that can be split.
你好,我再windows下编译这个工程的时候,提示opencv头文件找不到,我可以确定路径设置正确。右键点对应头文件点打开文档也没有问题,就是编译提示找不到。
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
When I change the code here
std::vector<cuda_renderer::Model::mat4x4> mat4_v(100, mat4);
for (auto &mat:mat4_v)
{
mat.c3 += static_cast <float> (rand()) / static_cast <float> (RAND_MAX) * 100;
}
Then the result of GPU and CPU is different. Is there anything I'm doing wrong?
你好,我在arm-linux编译的实例,提示要装open3d;我试着在linux下搭建open3d环境,sudo make -j6时,好多第三方库都clone下载不了;但是我copy连接,输入IE的URL,又可以下载。直接下载下来的源码放了一些位置,进行编译,还是不行。有好的方法推荐吗?谢谢。
Hi:
I follow the branch cuda_build_kdtree .I find there is a bug at pcd_scene.cu line 171 num_nodes_now_host = num_nodes_now_dev;
I change it to 'thrust::copy(num_nodes_now_dev.begin(), num_nodes_now_dev.end(), num_nodes_now_host.begin());' . But it have a bug, too.
Did you test this code?
When I run function "depth2cloud_cuda",it will interrupt in file"icp.cu " line 274.
Hi.
I used your code to implement my own data.
I use PCL to read two point cloud from PCD files,
one is
Scene_nn scene;
KDTree_cpu kdtree_cpu;
scene.init_Scene_nn_cpu();
I also find normals from PCL and init KDTree in cup and push to GPU as init_Scene_nn_cuda does.
The other one is used by thrust::copy to get a device vector.
However, when I use cuda_icp::ICP_P2P_cuda to get results,
I find the first iteration works fine, but it gives a crazy extrinsic (variable in ICP_P2P_cuda funtion). Thus, the second iteration cannot find a reasonable results and Ab[28] is 0 to return the function. The final result is the crazy extrinsic in first iteration.
I am not sure why it give me this results and I use your data works very good.
It is appreciate that you could give me some hints.
Thanks in advance.
First of all, thank you for your code!
I have tried the renderer_test (test.cpp) changing the ROI as follows :
cuda_renderer::Model::ROI roi = {320, 240, 100, 100};
And it give me the following result
Any clue why it is not working properly?
A second point I would like to raise relates about timing. The GPU ICP performance it's very impressive, good job! however this code:
device_vector_holder<::Vec3f> pcd_buffer_cuda, normal_buffer_cuda; scene.init_Scene_projective_cuda(scene_depth, K_, pcd_buffer_cuda, normal_buffer_cuda);
is about ten times slower than the ICP, why is it so slow? do you have any advice for improving its perfomance? Obviously, using a ROI will help and that's why it is so important that works properly the render with a ROI.
Thank you!
Dear author, this repo is really cool! I have a question about your CUDA render part.
I saw the function "render_triangle" seems to render tri-mesh. So:
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.