Improve PPFRegistration#5767
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mvieth merged 6 commits intoPointCloudLibrary:masterfrom Aug 24, 2023
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- add function getBestPoseCandidates to have access to all pose candidates, not just the one with the most votes - use ceil instead of floor, otherwise the accumulator_array can be too small in some cases - do not only use the single highest peak from accumulator array, but use more peaks if they have similarly many votes as the maximum - while pose clustering, make sure that a pose is added to the closest cluster, not simply to the first cluster below the clustering threshold (if more than one clusters are possible) - use a better threshold-based filtering of candidate poses, instead of always using the 3 poses with the most votes - re-activate and improve test for PPFRegistration
mvieth
added
changelog: enhancement
larshg
reviewed
Aug 9, 2023
Contributor
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Except from missing a few const, it looks good 👍 |
larshg
approved these changes
Aug 23, 2023
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Fixes #5759