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Added RegistrationIcp tests

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This commit is contained in:
matlabbe
2026-06-06 18:43:51 -07:00
parent 0fe9718c28
commit 92f75c76b2
13 changed files with 1528 additions and 158 deletions
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guilib/src/PreferencesDialog.cpp
+1
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@@ -1394,6 +1394,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->loopClosure_icpPointToPlaneNormalsRadius->setObjectName(Parameters::kIcpPointToPlaneRadius().c_str());
_ui->loopClosure_icpPointToPlaneGroundNormalsUp->setObjectName(Parameters::kIcpPointToPlaneGroundNormalsUp().c_str());
_ui->loopClosure_icpPointToPlaneNormalsMinComplexity->setObjectName(Parameters::kIcpPointToPlaneMinComplexity().c_str());
_ui->loopClosure_icpPointToPlaneComplexityCentered->setObjectName(Parameters::kIcpPointToPlaneComplexityCentered().c_str());
_ui->loopClosure_icpPointToPlaneLowComplexityStrategy->setObjectName(Parameters::kIcpPointToPlaneLowComplexityStrategy().c_str());
_ui->loopClosure_icpDebugExportFormat->setObjectName(Parameters::kIcpDebugExportFormat().c_str());
guilib/src/ui/preferencesDialog.ui
+22 -2
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@@ -24910,7 +24910,7 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="23" column="1">
<item row="24" column="1">
<widget class="QLabel" name="label_640">
<property name="text">
<string>Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are &quot;pcd&quot;, &quot;ply&quot; or &quot;vtk&quot;. If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.</string>
@@ -24962,9 +24962,29 @@ Lower the ratio -&gt; higher the precision.</string>
</property>
</widget>
</item>
<item row="23" column="0">
<item row="24" column="0">
<widget class="QLineEdit" name="loopClosure_icpDebugExportFormat"/>
</item>
<item row="23" column="0">
<widget class="QCheckBox" name="loopClosure_icpPointToPlaneComplexityCentered">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="23" column="1">
<widget class="QLabel" name="label_icpPointToPlaneComplexityCentered">
<property name="text">
<string>Structural-complexity metric. If unchecked (default), use the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T) — its smallest eigenvalue measures how well the surface normals span the ambient space, which correctly distinguishes perpendicular-surface scenes from corridors. If checked, use centered PCA (cv::PCA covariance) for backwards compatibility — but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="20" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
<property name="decimals">