Support removing degrees of freedom from the optimization #152
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
… when source and target are the same
Visualize results
support arbitrary search method in fast_gicp. de facto will only work…
rename kdtree members which dont have to be kdtree
… when source and target are the same
…tween PCL and fast_gicp
Co-authored-by: k.koide <[email protected]>
There was a problem hiding this comment.
Todo: revert all this if it should be merged.
| virtual ~LsqRegistration(); | ||
|
|
||
| void setRotationEpsilon(double eps); | ||
| void setInitialLambdaFactor(double init_lambda_factor); | ||
| void setDebugPrint(bool lm_debug_print); | ||
|
|
||
| void setOptimiuationParamProcessor(const typename OptimizationParamProcessor<Dim>::Ptr processor); |
There was a problem hiding this comment.
Suggested change
| void setOptimiuationParamProcessor(const typename OptimizationParamProcessor<Dim>::Ptr processor); | |
| void setOptimizationParamProcessor(const typename OptimizationParamProcessor<Dim>::Ptr processor); |
| template <typename PointTarget, typename PointSource> | ||
| LsqRegistration<PointTarget, PointSource>::~LsqRegistration() {} | ||
| template <typename PointTarget, typename PointSource, int N> | ||
| void LsqRegistration<PointTarget, PointSource, N>::setOptimiuationParamProcessor(const typename OptimizationParamProcessor<N>::Ptr processor) { |
There was a problem hiding this comment.
Suggested change
| void LsqRegistration<PointTarget, PointSource, N>::setOptimiuationParamProcessor(const typename OptimizationParamProcessor<N>::Ptr processor) { | |
| void LsqRegistration<PointTarget, PointSource, N>::setOptimizationParamProcessor(const typename OptimizationParamProcessor<N>::Ptr processor) { |
themightyoarfish
commented
Apr 4, 2024
| @@ -1,11 +1,21 @@ | |||
| cmake_minimum_required(VERSION 3.10.0) | |||
| project(fast_gicp) | |||
| set(CMAKE_CXX_STANDARD 20) | |||
There was a problem hiding this comment.
Apparently this causes some problems in the CI pipeline
themightyoarfish
commented
Apr 4, 2024
Comment on lines
+53
to
+56
| template <bool B, bool... Args> | ||
| struct count_true { | ||
| static constexpr int value = count_true<B>::value + count_true<Args...>::value; | ||
| }; |
There was a problem hiding this comment.
i think these fold expressions need c++ 20, not sure how this can be realized with prior language standards.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is my first shot at using only a subset of parameters, e.g. when some angles are fixed or the registration happens in a plane. I templatized an object that would extract the relevant quantities from the matrices involved here.
I tested this a bit and it seems to work, but its WIP for now (if I get back to it).