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Torus ransac model #5816

Merged
merged 35 commits into from
May 28, 2024
Merged

Torus ransac model #5816

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1de5d2c
First torus commit
lasdasdas Sep 17, 2023
aa73c8d
Torus ransac
lasdasdas Sep 17, 2023
fc5b354
integrating projectPoints
lasdasdas Sep 18, 2023
ef51c3c
Implementing more functions
lasdasdas Sep 19, 2023
2719067
Slight progress
lasdasdas Sep 19, 2023
3b6bbe6
Progress
lasdasdas Oct 12, 2023
19eba87
Optimizer now works!
lasdasdas Oct 13, 2023
083961d
Important milestone:
lasdasdas Oct 13, 2023
eb40cc6
Removes normals
lasdasdas Oct 14, 2023
61f0188
Reverting unnecessary changes..
lasdasdas Oct 14, 2023
dde9133
Several changes:
lasdasdas Oct 14, 2023
4325ca0
Restores unrequired file modifications
lasdasdas Oct 14, 2023
40505b8
Restoring unnecessary modifications
lasdasdas Oct 14, 2023
aec8707
Updating doxygen
lasdasdas Oct 14, 2023
f7303b8
Adds clangformat to new files
lasdasdas Oct 14, 2023
caa50a0
Implements a direct approach to torus SAC, with normals
lasdasdas Apr 12, 2024
036febc
Cleans up a bit, fixes some implementation issues
lasdasdas Apr 13, 2024
03cbd19
Fixes equation, tests are now passing
lasdasdas Apr 21, 2024
e442ada
Fixed some bugs, added tests, cleanup
lasdasdas Apr 21, 2024
8a25ab8
Fixes clang-format
lasdasdas Apr 26, 2024
8055115
Merge remote-tracking branch 'origin/master' into torus_ransac_model
lasdasdas Apr 26, 2024
6f97670
Implements isModelValid
lasdasdas Apr 26, 2024
28d59da
implements doSamplesVerifyModel
lasdasdas Apr 27, 2024
b573271
Adds more tests, adds normals to ML optimizer
lasdasdas Apr 27, 2024
2789738
Adds more tests, adds normals to ML optimizer
lasdasdas Apr 27, 2024
199a238
Rolls back formatting, sorry
lasdasdas Apr 27, 2024
c1bcebf
Merge commit '27897384d' into torus_ransac_model
lasdasdas Apr 27, 2024
f782be7
Merge commit '199a2381a' into torus_ransac_model
lasdasdas Apr 27, 2024
e9db028
Review day 1
lasdasdas May 1, 2024
e4d0591
Fixes closest
lasdasdas May 2, 2024
01c84eb
Review stage + cleanup
lasdasdas May 16, 2024
790433a
Adds const correctness to variables
lasdasdas May 16, 2024
76a6209
Corrects a silly mistake
lasdasdas May 16, 2024
1aac933
Normalize direction after optimizemodelcoeffs
lasdasdas May 22, 2024
03378ae
Format review
lasdasdas May 24, 2024
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3 changes: 3 additions & 0 deletions sample_consensus/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ set(srcs
src/sac_model_registration.cpp
src/sac_model_sphere.cpp
src/sac_model_ellipse3d.cpp
src/sac_model_torus.cpp
)

set(incs
Expand Down Expand Up @@ -60,6 +61,7 @@ set(incs
"include/pcl/${SUBSYS_NAME}/sac_model_registration_2d.h"
"include/pcl/${SUBSYS_NAME}/sac_model_sphere.h"
"include/pcl/${SUBSYS_NAME}/sac_model_ellipse3d.h"
"include/pcl/${SUBSYS_NAME}/sac_model_torus.h"
)

set(impl_incs
Expand Down Expand Up @@ -87,6 +89,7 @@ set(impl_incs
"include/pcl/${SUBSYS_NAME}/impl/sac_model_registration_2d.hpp"
"include/pcl/${SUBSYS_NAME}/impl/sac_model_sphere.hpp"
"include/pcl/${SUBSYS_NAME}/impl/sac_model_ellipse3d.hpp"
"include/pcl/${SUBSYS_NAME}/impl/sac_model_torus.hpp"
)

set(LIB_NAME "pcl_${SUBSYS_NAME}")
Expand Down
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