TEASER-plusplus: [QUESTION] the program is running so slow！！！！

I have read the docs and papers but I still don’t know why the program is running so slow

This is my changed code, the S,T point cloud is processed by myself, the size is 10240 ` // An example showing TEASER++ registration with the Stanford bunny model #include <chrono> #include <iostream> #include <random>

#include <Eigen/Core>

#include <teaser/ply_io.h> #include <teaser/registration.h>

// Macro constants for generating noise and outliers #define NOISE_BOUND 0.05 #define N_OUTLIERS 1700 #define OUTLIER_TRANSLATION_LB 5 #define OUTLIER_TRANSLATION_UB 10

inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) { return std::abs(std::acos(fmin(fmax(((R_exp.transpose() * R_est).trace() - 1) / 2, -1.0), 1.0))); }

void addNoiseAndOutliers(Eigen::Matrix<double, 3, Eigen::Dynamic>& tgt) { // Add uniform noise Eigen::Matrix<double, 3, Eigen::Dynamic> noise = Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND; NOISE_BOUND / 2; tgt = tgt + noise;

// Add outliers std::random_device rd; std::mt19937 gen(rd()); std::uniform_int_distribution<> dis2(0, tgt.cols() - 1); // pos of outliers std::uniform_int_distribution<> dis3(OUTLIER_TRANSLATION_LB, OUTLIER_TRANSLATION_UB); // random translation std::vector<bool> expected_outlier_mask(tgt.cols(), false); for (int i = 0; i < N_OUTLIERS; ++i) { int c_outlier_idx = dis2(gen); assert(c_outlier_idx < expected_outlier_mask.size()); expected_outlier_mask[c_outlier_idx] = true; tgt.col(c_outlier_idx).array() += dis3(gen); // random translation } }

int main() { // Load the .ply file teaser::PLYReader reader; teaser::PointCloud src_cloud; auto status = reader.read(“./example_data/left_face_10240.ply”, src_cloud); int N = src_cloud.size();

// Convert the point cloud to Eigen Eigen::Matrix<double, 3, Eigen::Dynamic> src(3, N); for (size_t i = 0; i < N; ++i) { src.col(i) << src_cloud[i].x, src_cloud[i].y, src_cloud[i].z; }

// Homogeneous coordinates Eigen::Matrix<double, 4, Eigen::Dynamic> src_h; src_h.resize(4, src.cols()); src_h.topRows(3) = src; src_h.bottomRows(1) = Eigen::Matrix<double, 1, Eigen::Dynamic>::Ones(N);

// Apply an arbitrary SE(3) transformation Eigen::Matrix4d T; // clang-format off T << 9.96926560e-01, 6.68735757e-02, -4.06664421e-02, -1.15576939e-01, -6.61289946e-02, 9.97617877e-01, 1.94008687e-02, -3.87705398e-02, 4.18675510e-02, -1.66517807e-02, 9.98977765e-01, 1.14874890e-01, 0, 0, 0, 1; // clang-format on

// Apply transformation /*Eigen::Matrix<double, 4, Eigen::Dynamic> tgt_h = T * src_h; Eigen::Matrix<double, 3, Eigen::Dynamic> tgt = tgt_h.topRows(3);

// Add some noise & outliers addNoiseAndOutliers(tgt);*/

//add code by dsy //teaser::PLYReader reader; teaser::PointCloud tgt_cloud; auto status1 = reader.read(“./example_data/right_face_10240.ply”, tgt_cloud); int M = tgt_cloud.size(); Eigen::Matrix<double, 3, Eigen::Dynamic> tgt(3, M); for (size_t i = 0; i < M; ++i) { tgt.col(i) << tgt_cloud[i].x, tgt_cloud[i].y, tgt_cloud[i].z; }

Eigen::Matrix<double, 4, Eigen::Dynamic> tgt_h; tgt_h.resize(4, tgt.cols()); tgt_h.topRows(3) = tgt; tgt_h.bottomRows(1) = Eigen::Matrix<double, 1, Eigen::Dynamic>::Ones(N);

tgt_h = T * tgt_h; tgt = tgt_h.topRows(3); std::cout << “Run TEASER++ registration” << std::endl; // Run TEASER++ registration // Prepare solver parameters teaser::RobustRegistrationSolver::Params params; params.noise_bound = NOISE_BOUND; params.cbar2 = 1; params.estimate_scaling = false; params.rotation_max_iterations = 100; params.rotation_gnc_factor = 1.4; params.rotation_estimation_algorithm = teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::GNC_TLS; params.rotation_cost_threshold = 0.005;

// Solve with TEASER++ std::cout << “Solve with TEASER++” << std::endl; teaser::RobustRegistrationSolver solver(params); std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); solver.solve(src, tgt); std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();

auto solution = solver.getSolution();

// Compare results std::cout << “=====================================” << std::endl; std::cout << " TEASER++ Results " << std::endl; std::cout << “=====================================” << std::endl; std::cout << "Expected rotation: " << std::endl; std::cout << T.topLeftCorner(3, 3) << std::endl; std::cout << "Estimated rotation: " << std::endl; std::cout << solution.rotation << std::endl; std::cout << "Error (deg): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation) << std::endl; std::cout << std::endl; std::cout << "Expected translation: " << std::endl; std::cout << T.topRightCorner(3, 1) << std::endl; std::cout << "Estimated translation: " << std::endl; std::cout << solution.translation << std::endl; std::cout << "Error (m): " << (T.topRightCorner(3, 1) - solution.translation).norm() << std::endl; std::cout << std::endl; std::cout << "Number of correspondences: " << N << std::endl; std::cout << "Number of outliers: " << N_OUTLIERS << std::endl; std::cout << "Time taken (s): " << std::chrono::duration_caststd::chrono::microseconds(end - begin).count() / 1000000.0 << std::endl; }

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