[registration] GICP alternates optimizing trans and rot part #5269
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keineahnung2345
commented
May 20, 2022
| /// \brief optimization functor structure for translation part | ||
| struct OptimizationFunctorWithIndicesTranslation | ||
| : public BFGSDummyFunctor<double, 3> { | ||
| OptimizationFunctorWithIndicesTranslation(GeneralizedIterativeClosestPoint* gicp) |
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Need to update gicp_->current_transformation_ so const from const GeneralizedIterativeClosestPoint* removed.
| @@ -329,16 +376,19 @@ GeneralizedIterativeClosestPoint<PointSource, PointTarget>:: | |||
| } | |||
| g.head<3>() *= 2.0 / m; | |||
| dCost_dR_T *= 2.0 / m; | |||
| gicp_->computeRDerivative(x, dCost_dR_T, g); | |||
| // gicp_->computeRDerivative(x, dCost_dR_T, g); | |||
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Should I remove all rotation-related codes from OptimizationFunctorWithIndicesTranslation?
| @@ -506,6 +711,7 @@ GeneralizedIterativeClosestPoint<PointSource, PointTarget>::computeTransformatio | |||
| break; | |||
| } | |||
| nr_iterations_++; | |||
| is_translation_turn_ = !is_translation_turn_; | |||
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If current iteration is optimizing translation part, next iteration will optimize rotation part. There may be a better way.
|
@mvieth |
|
Any chance to get this moved forward? |
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Ref: #5180