Fix benchmark param for ICP

isl-org · Jun 21, 2022 · 22ba96f · 22ba96f
1 parent c43eabe
commit 22ba96f
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/cpp/benchmarks/pipelines/registration/Registration.cpp b/cpp/benchmarks/pipelines/registration/Registration.cpp
@@ -45,7 +45,9 @@ namespace registration {
 // ICP ConvergenceCriteria.
 static const double relative_fitness = 1e-6;
 static const double relative_rmse = 1e-6;
-static const int max_iterations = 30;
+static const int max_iterations = 10;
+
+static const double voxel_downsampling_factor = 0.02;
 
 // NNS parameter.
 static const double max_correspondence_distance = 0.05;
@@ -77,9 +79,9 @@ static void BenchmarkICPLegacy(benchmark::State& state,
                                const TransformationEstimationType& type) {
     data::DemoICPPointClouds demo_icp_pointclouds;
     geometry::PointCloud source, target;
-    std::tie(source, target) = LoadPointCloud(
-            demo_icp_pointclouds.GetPaths(0), demo_icp_pointclouds.GetPaths(1),
-            /*voxel_downsampling_factor =*/0.02);
+    std::tie(source, target) = LoadPointCloud(demo_icp_pointclouds.GetPaths(0),
+                                              demo_icp_pointclouds.GetPaths(1),
+                                              voxel_downsampling_factor);
 
     std::shared_ptr<TransformationEstimation> estimation;
     if (type == TransformationEstimationType::PointToPlane) {

diff --git a/cpp/benchmarks/t/pipelines/registration/Registration.cpp b/cpp/benchmarks/t/pipelines/registration/Registration.cpp
@@ -45,6 +45,8 @@ static const double relative_fitness = 1e-6;
 static const double relative_rmse = 1e-6;
 static const int max_iterations = 10;
 
+static const double voxel_downsampling_factor = 0.02;
+
 // NNS parameter.
 static const double max_correspondence_distance = 0.05;
 
@@ -103,7 +105,7 @@ static void BenchmarkICP(benchmark::State& state,
     geometry::PointCloud source, target;
     std::tie(source, target) = LoadTensorPointCloudFromFile(
             demo_icp_pointclouds.GetPaths(0), demo_icp_pointclouds.GetPaths(1),
-            /*voxel_downsampling_factor =*/0.02, dtype, device);
+            voxel_downsampling_factor, dtype, device);
 
     std::shared_ptr<TransformationEstimation> estimation;
     if (type == TransformationEstimationType::PointToPlane) {