David Novotny
365945b1fd
Pointcloud normals estimation.
...
Summary: Estimates normals of a point cloud.
Reviewed By: gkioxari
Differential Revision: D20860182
fbshipit-source-id: 652ec2743fa645e02c01ffa37c2971bf27b89cef
2020-04-16 18:36:19 -07:00
David Novotny
8abbe22ffb
ICP - point-to-point version
...
Summary:
The iterative closest point algorithm - point-to-point version.
Output of `bm_iterative_closest_point`:
Argument key: `batch_size dim n_points_X n_points_Y use_pointclouds`
```
Benchmark Avg Time(μs) Peak Time(μs) Iterations
--------------------------------------------------------------------------------
IterativeClosestPoint_1_3_100_100_False 107569 111323 5
IterativeClosestPoint_1_3_100_1000_False 118972 122306 5
IterativeClosestPoint_1_3_1000_100_False 108576 110978 5
IterativeClosestPoint_1_3_1000_1000_False 331836 333515 2
IterativeClosestPoint_1_20_100_100_False 134387 137842 4
IterativeClosestPoint_1_20_100_1000_False 149218 153405 4
IterativeClosestPoint_1_20_1000_100_False 414248 416595 2
IterativeClosestPoint_1_20_1000_1000_False 374318 374662 2
IterativeClosestPoint_10_3_100_100_False 539852 539852 1
IterativeClosestPoint_10_3_100_1000_False 752784 752784 1
IterativeClosestPoint_10_3_1000_100_False 1070700 1070700 1
IterativeClosestPoint_10_3_1000_1000_False 1164020 1164020 1
IterativeClosestPoint_10_20_100_100_False 374548 377337 2
IterativeClosestPoint_10_20_100_1000_False 472764 476685 2
IterativeClosestPoint_10_20_1000_100_False 1457175 1457175 1
IterativeClosestPoint_10_20_1000_1000_False 2195820 2195820 1
IterativeClosestPoint_1_3_100_100_True 110084 115824 5
IterativeClosestPoint_1_3_100_1000_True 142728 147696 4
IterativeClosestPoint_1_3_1000_100_True 212966 213966 3
IterativeClosestPoint_1_3_1000_1000_True 369130 375114 2
IterativeClosestPoint_10_3_100_100_True 354615 355179 2
IterativeClosestPoint_10_3_100_1000_True 451815 452704 2
IterativeClosestPoint_10_3_1000_100_True 511833 511833 1
IterativeClosestPoint_10_3_1000_1000_True 798453 798453 1
--------------------------------------------------------------------------------
```
Reviewed By: shapovalov, gkioxari
Differential Revision: D19909952
fbshipit-source-id: f77fadc88fb7c53999909d594114b182ee2a3def
2020-04-16 14:02:16 -07:00
Jeremy Reizenstein
b87058c62a
fix recent lint
...
Summary: lint clean again
Reviewed By: patricklabatut
Differential Revision: D20868775
fbshipit-source-id: ade4301c1012c5c6943186432465215701d635a9
2020-04-06 06:41:00 -07:00
Roman Shapovalov
e37085d999
Weighted Umeyama.
...
Summary:
1. Introduced weights to Umeyama implementation. This will be needed for weighted ePnP but is useful on its own.
2. Refactored to use the same code for the Pointclouds mask and passed weights.
3. Added test cases with random weights.
4. Fixed a bug in tests that calls the function with 0 points (fails randomly in Pytorch 1.3, will be fixed in the next release: https://github.com/pytorch/pytorch/issues/31421 ).
Reviewed By: gkioxari
Differential Revision: D20070293
fbshipit-source-id: e9f549507ef6dcaa0688a0f17342e6d7a9a4336c
2020-04-03 02:59:11 -07:00
