fast_gicp提供了基于CUDA和基于OpenMP的多线程实现,CUDA版本内部有三个实现,主要的不同是计算协方差矩阵的不同: parallel_kdtree: 最近邻使用基于CPU的KDTree搜索,协方差计算在GPU上完成 gpu_bruteforce: 基于GPU做暴力最近邻搜索,协方差计算在GPU上完成 gpu_rbf_kernel:基于RBF Kernel的进行协方差计算,这个方法避免...
fast_gicp_st.hpp fast_vgicp.hpp fast_vgicp_cuda.hpp fast_vgicp_voxel.hpp gicp_settings.hpp lsq_registration.hpp ndt so3 scripts src thirdparty .clang-format .gitignore .gitmodules CMakeLists.txt LICENSE README.md package.xml setup.py ...
.github/workflows/issue_response.yml Fast-gicp DO #7 Sign in to view logs Summary Jobs welcome Run details Usage Workflow file Triggered via issue July 17, 2024 10:00 huarzail opened #162 b1b128f Status Success Total duration 12s Artifacts – issue_response.yml on: issues welcome 2s ...
这篇经典文章[1]提出了兼顾NDT和GICP优点,避免两者缺点的方法-- VGICP。GICP虽然精度高,但是由于每次都需要做最近邻搜索,导致速度偏慢;NDT虽然速度快,但是其精度容易受网格的分辨率影响,这是因为每个网格都…
fast_gicp.zip Ru**dy上传1.54 MB文件格式zipcppcudagicpgpuicpmultithreadingpclpoint-cloudpythonregistrationscan-matchingvgicp A collection of GICP-based fast point cloud registration algorithms (0)踩踩(0) 所需:1积分 JFoenix 2024-12-25 15:28:57...
FastGICPSingleThread: GICP algorithm optimized for single-threading (~15FPS) FastVGICP: multi-threaded and voxelized GICP algorithm (~70FPS) FastVGICPCuda: CUDA-accelerated voxelized GICP algorithm (~120FPS) NDTCuda: CUDA-accelerated D2D NDT algorithm (~500FPS) ...
A collection of GICP-based fast point cloud registration algorithms - fast_gicp/src/align.cpp at master · koide3/fast_gicp
A collection of GICP-based fast point cloud registration algorithms - fast_gicp/package.xml at master · jamestiotio/fast_gicp
koide3/fast_gicpPublic NotificationsYou must be signed in to change notification settings Fork319 Star1.3k Files master .github data docker include scripts src fast_gicp python test align.cpp kitti.cpp kitti.py thirdparty .clang-format .gitignore ...
support arbitrary search method in fast_gicp (koide3#120) themightyoarfish and koide3 authoredOct 1, 2023 6d99a9c Abort when aligned cloud is source or target (koide3#134) themightyoarfish authoredOct 1, 2023 bb36054 Commits on Mar 27, 2023 ...