Comments (5)
So in release mode, how are the results (the aligned cloud and the final transformation)? Do they make sense?
Most users probably use some kind of filter (e.g. PassThrough or VoxelGrid) before ICP, so ICP currently does not check for invalid points.
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The result in Release mode are meaningless. The pcd file is result of filter cropbox.
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The result in Release mode are meaningless. The pcd file is result of filter cropbox.
Could you describe the crop-box filtering a bit more, perhaps post some code? Did you use a pcl::CropBox<pcl::PointXYZI>
or a pcl::CropBox<pcl::PCLPointCloud2>
or something else?
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Yes,I used pcl::CropBoxpcl::PointXYZI with "keep organized" on.
Part of the point cloud in ascii format:
# .PCD v0.7 - Point Cloud Data file format
VERSION 0.7
FIELDS x y z intensity
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 3200
HEIGHT 400
VIEWPOINT 0 0 0 1 0 0 0
POINTS 1280000
DATA ascii
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
nan nan nan 0
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There is still something wrong in icp.getFitnessScore(). Fix in #6056
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Related Issues (20)
- Remove deprecated code for the 1.15.0 release HOT 3
- [field match]How to get whether a field is valid? HOT 4
- [CorrespondenceEstimation] There may be something wrong with the annotation HOT 2
- [compile error] undefined reference to boost::filesystem HOT 3
- [pcl::normal] Why pcl::normal is designed to use 32 bytes? HOT 3
- [features] Fix ShapeContext3DEstimation
- [filters] Make `UniformSampling` inherit from `FilterIndices` instead of `Filter` HOT 1
- [compile with cuda] cmake cannot find cuda HOT 5
- [gpu::NormalEstimation] Error:out of memory HOT 6
- Within a new project, this compile process has a bug in two header files (type_traits.h and point_struct_traits.h). HOT 4
- [registration] icp with TransformationEstimationPointToPlane can not give right result. HOT 7
- [Registration] "Add new rigid & non-rigid registration algorithms" HOT 8
- [FPCSInitialAlignment] The output aligned point cloud is unstable HOT 10
- [registration] It might be better to reorganize the inheritance relationship. HOT 3
- The implementation of the 'computePairFeatures' function in pfh_tools.h was not found. HOT 2
- Docker Build Failing HOT 2
- Some of the PCL DLLs cannot be integrated into the project's final DLL. HOT 2
- I would like to understand the role of the parameter 'row' in the function computePointSPFHSignature() HOT 1
- This piece of code seems to be ineffective. HOT 1
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