[feat] 3D and testing and matrixxd update #50
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Co-authored-by: Utku Melemetci <[email protected]>
Yey007
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…r large rotations/translations. Need improved nearest neighbor matching (KD-Tree/soft assignments) and better initial alignment (PCA, FPFH, manual registration).
jesswang7
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CMakeLists.txt
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| ${PCL_INCLUDE_DIRS} | ||
| ) | ||
| target_link_libraries(cevicp ${PCL_LIBRARIES}) |
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Do we need to link PCL for the main library? If not, can you please remove this?
CMakeLists.txt
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| @@ -30,14 +34,18 @@ set(LIB_SOURCES | |||
| lib/icp/impl/vanilla.cpp | |||
| lib/icp/impl/trimmed.cpp | |||
| lib/icp/impl/feature_aware.cpp | |||
| lib/icp/impl/vanilla_3d.cpp | |||
| common/parse_ply.cpp # Add the PLY parser source file | |||
CMakeLists.txt
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| set(TEST_SOURCES_3D tests/test3d.cpp) | ||
| add_executable(test_suite_3d ${TEST_SOURCES_3D}) | ||
| target_link_libraries(test_suite_3d | ||
| cevicp | ||
| ) | ||
| target_include_directories(test_suite_3d | ||
| PRIVATE | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/include | ||
| /usr/local/include/simple_test | ||
| ${PCL_INCLUDE_DIRS} | ||
| ) | ||
| target_compile_definitions(test_suite_3d PRIVATE TEST) |
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Can we make this a part of the main test executable? By just writing another function in test.cpp
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Also, does this test need PCL? It would be good to not link with PCL unless we need it.
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i deleted the link to PCL. i don't really think it's appropriate to put it in test.cpp since it's aim for testing 2d
| std::cout << "[4]Result Transform Translation X: " << result.transform.translation.x() | ||
| << std::endl; | ||
| std::cout << "[4]Result Transform Translation Y: " << result.transform.translation.y() | ||
| << std::endl; | ||
| std::cout << "[4]Result Iteration Count: " << result.iteration_count << std::endl; |
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Do we need these print statements? Or are they just for debugging
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for debugging only, should i keep them only on the testing branch?
| std::vector<icp::Vector> a = {icp::Vector(0, 0)}; | ||
| std::vector<icp::Vector> b = {icp::Vector(100, 0)}; | ||
| auto result = driver.converge(a, b, icp::RBTransform()); | ||
| // Test case 1: Single point translation |
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If this test case is unusable we can remove it
test
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