Depth odometry organized icp #388
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…, expect initial estimate as source_T_target
…_odometry_organized_icp
bcoltin
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Jan 6, 2022
luisa-mao
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Jul 11, 2023
Added depth odometry sweep tool, optional refinement of the image feature depth odometry estimate, and organized methods taking advantage of the grid like structure of point clouds to speed up computations.
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Added functions to take advantage of the layout of our point cloud being "organized" (having a width and height since it's from a depth camera) to speed up normal estimation. Also added functions for sampling using normal alignments to further speed up ICP.
This branch is off of the open pr " Added Depth Odometry Sweep Tool and Optional ICP-based refinement for Image Feature Depth Odometry #381, so depending on the merge order that can be closed or merged before this one (I couldn't find an option to make the destination that pr, let me know if there's a better way to do this).
This requires new debs to be installed (libpcl-registration and libpcl-keypoints).