probreg: pt2pl objective gets stuck sometimes
pt2pl is amazingly fast for me, however it does not terminate on some pairs of scans. I’m running the algorithm with sigma=0.1 and tol=0.001. I tried to vary the tolerance but the problem persists. I attached an example of the problematic frames as OBJ with normals. If another formats suits you better I can provide that. Thank you in advance.
pt2pl-no-converge.zip
About this issue
- Original URL
- State: closed
- Created 4 years ago
- Comments: 18 (7 by maintainers)
I have adapted the constant sigma and it terminates successfully. The problem reappears for a few other pairs, but I’ll continue my parameter tweaking and should be able to get rid of those as well. Thanks!
That’s a really good pointer, I think I’m making an error in transforming my normals between frames, which might cause the oscillation, or wrongly estimated quality of the fit. I’ll check this in detail and report back.