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Improve PPFRegistration #5767

Merged
merged 6 commits into from
Aug 24, 2023
Merged

Improve PPFRegistration #5767

merged 6 commits into from
Aug 24, 2023

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mvieth
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@mvieth mvieth commented Jul 20, 2023

  • 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

Fixes #5759

@mvieth
Improve PPFRegistration
136d1fa 
- 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 mvieth added changelog: enhancement Meta-information for changelog generation module: registration labels Jul 20, 2023
@mvieth mvieth marked this pull request as ready for review July 24, 2023 07:44
@mvieth mvieth requested a review from larshg August 8, 2023 13:24
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larshg commented Aug 9, 2023

Except from missing a few const, it looks good 👍

@mvieth mvieth merged commit cb33bf7 into PointCloudLibrary:master Aug 24, 2023
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@mvieth mvieth deleted the ppfregistration_improvements branch August 24, 2023 07:20
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@larshg larshg larshg approved these changes

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changelog: enhancement Meta-information for changelog generation module: registration
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PPF gets other poses
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@mvieth @larshg