3D-3D Registration based on PCL #425
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fabiencastan
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gregoire-dl
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Jul 23, 2018
| find_package(Flann QUIET) | ||
| if(NOT FLANN_FOUND OR ALICEVISION_USE_INTERNAL_FLANN) | ||
| set(FLANN_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/flann/src/cpp) |
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FLANN_INCLUDE_DIR_HINTS is now set after find_package.
In order to find the internal one we should add another find_package after this line.
fabiencastan
commented
Nov 21, 2019
src/CMakeLists.txt
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| @@ -320,8 +321,8 @@ if(Eigen3_FOUND OR EIGEN3_FOUND) | |||
| # message(FATAL_ERROR "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}") | |||
| include_directories(${EIGEN_INCLUDE_DIR}) | |||
| # See https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html | |||
| add_definitions("-DEIGEN_DONT_ALIGN_STATICALLY=1") | |||
| add_definitions("-DEIGEN_DONT_VECTORIZE=1") | |||
| # add_definitions("-DEIGEN_DONT_ALIGN_STATICALLY=1") | |||
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WARNING: do not merge before we have done all the changes needed for that.
simogasp
reviewed
Apr 10, 2020
| { | ||
| auto tic = std::chrono::steady_clock::now(); | ||
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| int res = loadCloud(file, targetCloud); |
simogasp
requested changes
Apr 10, 2020
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| int PointcloudRegistration::loadTargetCloud(const std::string & file) | ||
| { | ||
| auto tic = std::chrono::steady_clock::now(); |
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| pcl::PointCloud<pcl::PointXYZRGB> inputCloud, outputCloud; | ||
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| // load input cloud: |
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const auto ext = path(inputFile).extension().toString();
if(inputFile == "ply")
...| pcl::transformPointCloud(inputCloud, outputCloud, T); | ||
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| // save the transformed pointcloud: | ||
| if (outputFile.substr(outputFile.find_last_of(".") + 1) == "ply") |
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if(ext != "ply")
{
ALICEVISION_LOG_ERROR("PointcloudRegistration::saveCloud: Unknown extension: " << outputFile);
return EXIT_FAILURE;
}
pcl::io::savePLYFile(outputFile, outputCloud);
This was referenced Apr 22, 2020
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FYI, we have a quick example for using symmetric with PCL > 1.10.0 here: |
simogasp
reviewed
Sep 12, 2022
| { | ||
| case EAlignmentMethod::GICP: | ||
| { | ||
| transform = alignGICP(mutableSourceCloud, mutableTargetCloud); |
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break?
or is it done on purpose?
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it seems to be a bug
* add scale support in point_to_point with directSimilarityEstimator * add multiple modes to command line * remove code using PCL windows: no UI inside the library
Point cloud preparation means: center to origin, initial rescale and voxelgrid subsampling.
… if voxelSize is 0
servantftechnicolor
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WARNING: DO NOT MERGE due to Eigen alignment flags or C++17 switch.