This is a new version of rmagine, which migrated some Mesh ICP computations from RMCL. Several tests have been added, I also took the opportunity to clean up the interface for single hypothesis correction aka pose tracking. All other external software should still work, so I just increased the patch version.
New
- CrossStatistics math type, which contains two means a covariance and the number of measurements. Also the reduction function from the MICP-L paper is integrated
- PointCloudView. Contains views to existing memory buffer. We use it for cleaner, and more readable interfaces, while not losing any runtime.
- Functions for registration. Correspondence search, Umeyama-based optimization
Improvements
- integrated support for multi-block computation in the non-batch version of "sum"
Tests
- statistics for CPU (core)
- statistics for GPU (cuda)
- Embree correction: finding RCC using embree, optimizing using CPU-Umeyama
- OptiX correction: finding RCC using optix, optimizing using GPU-Umeyama