(Minor) modifications for the registration example in the RAM article: #1262
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* GICP now allows setting (externally computed) covariance matrices. If not set, GICP will compute these as usual. * OrganizedFastMesh now accepts a complete quadratic error in the form of sigma_d = a*d*d + b*d + c. * OrganizedFastMesh now allows to either use the measured depth (z) or the actual distance to the point (e.g., for 3D laser scans) * from_meshes.h contains two additional inline functions for computing approximate local surface normals on polygons and a PolygonMesh, respectively, and approximate covariance matrices given points and normals (GICP-style).
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Alex (Ichim) should best know what to do with that ... :) |
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One suggestion: how about an overload for computeApproximateNormals(), On Tue, Jun 16, 2015 at 3:20 PM, Dirk Holz notifications@github.com wrote:
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Good point! I'll add some additional functions and proper interfaces once it is in... |
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Awesome On Thu, Jun 18, 2015 at 11:27 AM, Dirk Holz notifications@github.com
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aichim
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(Minor) modifications for the registration example in the RAM article:
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If not set, GICP will compute these as usual.
of sigma_d = a_d_d + b*d + c.
the actual distance to the point (e.g., for 3D laser scans)
approximate local surface normals on polygons and a PolygonMesh,
respectively, and approximate covariance matrices given points and
normals (GICP-style).