ait-assistive-autonomous-systems/3d_nonrigid_tricubic_pointcloud_registration

Non-rigid ICP-like point cloud registration algorithm using piece-wise tricubic polynomials as transformation model.

3d_nonrigid_tricubic_pointcloud_registration's Issues

Use cxxopts through package manager

Instead of the header file in src/prog/3rdparty/cxxopts/cxxopts.hpp.

Revert usage of vcpkg to apt for linux

Add check for plausible voxel_size in regard to pointcloud dimensions

Bug: segfault if point is outside transformation domain

If a point to be transformed is outside the transformation domain, a segfault occurs.

Add params struct for parameter parsing

Implement point-to-point error metric

As alternative to point-to-plane error metric.

Add CI for Linux

Create template class to enable named column access in Eigen::Matrix

Feature should enable index access like matrix.col_names["x"] with usage of std::map from string to index. This should remove access like matrix.col(0) or matrix.col(cols()-1) to avoid faulty access.

Use tracy for profiling

https://github.com/wolfpld/tracy

Add config parameter to select point correspondence

Options: "nearest_neighbor" (default), "correspondence_id"

Add pdal reader/writer to support more file types

Fail to build the env

@pglira Hi, Thanks for your job, and I am quite interest to your job and try to test it. But I am not familiar to your build pipeline. I meet an error following your instructions:

[cmake] CMake Error at CMakeLists.txt:1:
[cmake]   Parse error.  Expected "(", got unquoted argument with text
[cmake]   "https://git-lfs.github.com/spec/v1".
[cmake] 
[cmake] 
[cmake] Not searching for unused variables given on the command line.
[cmake] -- Configuring incomplete, errors occurred!

Can you help me? Which step I missed?

Fix bug in passing arguments to parameter struct

Rename executables and library

Rename executables from:

• gbpcm and gbpcm-transform to
• nonrigid-icp and nonrigid-icp-transform

Same for the library: libgbpcm to libnonrigidicp

Fix std::cout calls while active suppress logging parameter

Maybe remove all std::cout calls