Comments (6)
In short, fast_gicp is much accurate but a little bit slower than ndt_omp. Please take a look at our paper for details: https://easychair.org/publications/preprint/ftvV
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It seems so strange. I test on my laptop and pc and found the same problem. I test gicp and ndt separately , it works fine. Maybe some bug in my system inviroment. Thanks for your reply!
from fast_gicp.
Thanks for reply, fast_gicp is truly more accurate than ndtomp. But it may stuck occasionly, seems in compute jacobian. Do you have any idea?
from fast_gicp.
I've not seen this problem before. Can you provide some data for reproducing the problem?
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https://github.com/sintax2con/fast_gicp_test
Thanks for reply!I Uploaded the test file. Please input the same cloud as source and target. It transforms the source cloud with some certain matrix, and evaluates the accuracy by distance and angle error.
from fast_gicp.
Do you mean running like this? With the following line, I couldn't reproduce the problem:
rosrun fast_gicp gicp_align 1.pcd 1.pcd
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Related Issues (20)
- Crash while using VGICP
- how to take fast_gicp in my own code? HOT 3
- About NeighborSearchMethod HOT 1
- got "for_each: failed to synchronize" in every position using "thrust::for_each" HOT 2
- doc request: aligned output point cloud must be different from source and target HOT 1
- Registration score gradually diverges. HOT 3
- cudaErrorIllegalAddress: an illegal memory access was encountered HOT 1
- I want getTransformationProbability() function in ndt_cuda HOT 1
- Unexpected Performance: Single-Threaded Faster than Multi-Threaded in Point Cloud Alignment HOT 2
- Why is the **weight** the square root of the number of points? HOT 4
- the calculation of **rho** in step_lm() seems wrong HOT 2
- set step size on ndt_cuda
- Optimization Problem for Fast GICP (OpenMP)
- any bug in ndt_cuda? HOT 1
- core dumped HOT 1
- How to implement the pcl version of GICP?
- can't build fast_gicp.lib HOT 2
- fast_gicp iteration HOT 1
- Fast-gicp DO HOT 1
- Fast-gicp DO NOT HOT 1
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