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[registration] Better Generalized ICP optimizer gradient check management #3854

Merged
merged 10 commits into from
Apr 30, 2020
Merged

[registration] Better Generalized ICP optimizer gradient check management #3854

merged 10 commits into from
Apr 30, 2020

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blackccpie
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Closes #3813

@blackccpie
feat : started dissociating linear and angular gradient tolerance. bo…
f517e9e 
…th are now configurable through gicp interface. still some work to get rid of euler angles vector norm.
@blackccpie
refactor : angular gradient test is now based on rotation axis angula…
383a183 
…r magnitude.
@blackccpie
refactor : nested class has access to enclosing class attributes.
35a7b54 
refactor : added inline method attributes.
@blackccpie
Merge pull request #1 from PointCloudLibrary/master
c81272b 
merge from upstream
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I intentionnally left bfgs.h unformatted for now for the sake of review clarity, but a clang formatting pass would be needed.

@SergioRAgostinho SergioRAgostinho self-requested a review April 3, 2020 12:58
@SergioRAgostinho SergioRAgostinho added changelog: enhancement Meta-information for changelog generation module: registration needs: code review Specify why not closed/merged yet labels Apr 3, 2020
kunaltyagi
kunaltyagi approved these changes Apr 3, 2020
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LGTM. Let's get 1 more pair of eyes.

@SergioRAgostinho SergioRAgostinho added the changelog: API break Meta-information for changelog generation label Apr 21, 2020
SergioRAgostinho
SergioRAgostinho reviewed Apr 29, 2020
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@SergioRAgostinho SergioRAgostinho added needs: author reply Specify why not closed/merged yet and removed needs: code review Specify why not closed/merged yet labels Apr 29, 2020
SergioRAgostinho
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Just flagging it to highlight that this should not be merged just yet.

@blackccpie @kunaltyagi
Update registration/include/pcl/registration/bfgs.h
73e6b41 
fix : remove API break in favor of deprecation label.

Co-Authored-By: Kunal Tyagi <tyagi.kunal@live.com>
@kunaltyagi kunaltyagi added needs: more work Specify why not closed/merged yet and removed needs: author reply Specify why not closed/merged yet labels Apr 29, 2020
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SergioRAgostinho commented Apr 30, 2020 •
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🚀 if CI is green(ish)

@kunaltyagi kunaltyagi merged commit 0feed18 into PointCloudLibrary:master Apr 30, 2020
@blackccpie blackccpie deleted the features/gicp_issue3813 branch April 30, 2020 16:21
@taketwo taketwo removed the needs: more work Specify why not closed/merged yet label May 6, 2020
@jiancong0204 jiancong0204 mentioned this pull request Mar 25, 2022
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@larshg larshg larshg left review comments

@kunaltyagi kunaltyagi kunaltyagi approved these changes

@taketwo taketwo taketwo approved these changes

@SergioRAgostinho SergioRAgostinho SergioRAgostinho approved these changes

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[registration] GICP not estimating rotation transform correctly
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@blackccpie @SergioRAgostinho @larshg @taketwo @kunaltyagi