Support removing degrees of freedom from the optimization #152
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… when source and target are the same
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support arbitrary search method in fast_gicp. de facto will only work…
rename kdtree members which dont have to be kdtree
… when source and target are the same
…tween PCL and fast_gicp
Co-authored-by: k.koide <[email protected]>
src/align.cpp
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Todo: revert all this if it should be merged.
themightyoarfish
commented
Apr 4, 2024
| @@ -1,11 +1,21 @@ | |||
| cmake_minimum_required(VERSION 3.10.0) | |||
| project(fast_gicp) | |||
| set(CMAKE_CXX_STANDARD 20) | |||
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Apparently this causes some problems in the CI pipeline
themightyoarfish
commented
Apr 4, 2024
Comment on lines
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| template <bool B, bool... Args> | ||
| struct count_true { | ||
| static constexpr int value = count_true<B>::value + count_true<Args...>::value; | ||
| }; |
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i think these fold expressions need c++ 20, not sure how this can be realized with prior language standards.
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This is my first shot at using only a subset of parameters, e.g. when some angles are fixed or the registration happens in a plane. I templatized an object that would extract the relevant quantities from the matrices involved here.
I tested this a bit and it seems to work, but its WIP for now (if I get back to it).