Comments (9)
from caesar.jl.
Wip:
from caesar.jl.
Common rigid transform function for _PCL and ScatterAlign, working torwards Pose3:
from caesar.jl.
Further work for ScatterAlignPose3:
from caesar.jl.
Just adding reference alignment solution from completeness:
- http://www.open3d.org/docs/release/tutorial/t_pipelines/t_icp_registration.html?highlight=icp#Multi-Scale-ICP-Example
- http://www.open3d.org/docs/release/tutorial/t_pipelines/t_icp_registration.html?highlight=icp#Point-To-Point-ICP-Registration
from caesar.jl.
To speed things up (and after finding), I'm consolidating the simpleICP.jl implementation. This is the defacto standard. One trick not included in ScatterAlign is to setup the cost function against path normals around each point.
Here is the first piece:
and here is what the code does with the two pointclouds from above:
from caesar.jl.
good chunk of this is probably already done with recent work. So the remaining TAC is that ScatterAlign runs through and has a test, but okay if the numerics are not robust.
from caesar.jl.
I recently also added an option for alignments on either
from caesar.jl.
reminder to consolidate versions across both Caesar and PyCaesar functionality
from caesar.jl.
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from caesar.jl.