David Novotny e5b1d6d3a3 Umeyama
Summary:
Umeyama estimates a rigid motion between two sets of corresponding points.

Benchmark output for `bm_points_alignment`

```
Arguments key: [<allow_reflection>_<batch_size>_<dim>_<estimate_scale>_<n_points>_<use_pointclouds>]
Benchmark                                                        Avg Time(μs)      Peak Time(μs) Iterations
--------------------------------------------------------------------------------
CorrespodingPointsAlignment_True_1_3_True_100_False                   7382            9833             68
CorrespodingPointsAlignment_True_1_3_True_10000_False                 8183           10500             62
CorrespodingPointsAlignment_True_1_3_False_100_False                  7301            9263             69
CorrespodingPointsAlignment_True_1_3_False_10000_False                7945            9746             64
CorrespodingPointsAlignment_True_1_20_True_100_False                 13706           41623             37
CorrespodingPointsAlignment_True_1_20_True_10000_False               11044           33766             46
CorrespodingPointsAlignment_True_1_20_False_100_False                 9908           28791             51
CorrespodingPointsAlignment_True_1_20_False_10000_False               9523           18680             53
CorrespodingPointsAlignment_True_10_3_True_100_False                 29585           32026             17
CorrespodingPointsAlignment_True_10_3_True_10000_False               29626           36324             18
CorrespodingPointsAlignment_True_10_3_False_100_False                26013           29253             20
CorrespodingPointsAlignment_True_10_3_False_10000_False              25000           33820             20
CorrespodingPointsAlignment_True_10_20_True_100_False                40955           41592             13
CorrespodingPointsAlignment_True_10_20_True_10000_False              42087           42393             12
CorrespodingPointsAlignment_True_10_20_False_100_False               39863           40381             13
CorrespodingPointsAlignment_True_10_20_False_10000_False             40813           41699             13
CorrespodingPointsAlignment_True_100_3_True_100_False               183146          194745              3
CorrespodingPointsAlignment_True_100_3_True_10000_False             213789          231466              3
CorrespodingPointsAlignment_True_100_3_False_100_False              177805          180796              3
CorrespodingPointsAlignment_True_100_3_False_10000_False            184963          185695              3
CorrespodingPointsAlignment_True_100_20_True_100_False              347181          347325              2
CorrespodingPointsAlignment_True_100_20_True_10000_False            363259          363613              2
CorrespodingPointsAlignment_True_100_20_False_100_False             351769          352496              2
CorrespodingPointsAlignment_True_100_20_False_10000_False           375629          379818              2
CorrespodingPointsAlignment_False_1_3_True_100_False                 11155           13770             45
CorrespodingPointsAlignment_False_1_3_True_10000_False               10743           13938             47
CorrespodingPointsAlignment_False_1_3_False_100_False                 9578           11511             53
CorrespodingPointsAlignment_False_1_3_False_10000_False               9549           11984             53
CorrespodingPointsAlignment_False_1_20_True_100_False                13809           14183             37
CorrespodingPointsAlignment_False_1_20_True_10000_False              14084           15082             36
CorrespodingPointsAlignment_False_1_20_False_100_False               12765           14177             40
CorrespodingPointsAlignment_False_1_20_False_10000_False             12811           13096             40
CorrespodingPointsAlignment_False_10_3_True_100_False                28823           39384             18
CorrespodingPointsAlignment_False_10_3_True_10000_False              27135           27525             19
CorrespodingPointsAlignment_False_10_3_False_100_False               26236           28980             20
CorrespodingPointsAlignment_False_10_3_False_10000_False             42324           45123             12
CorrespodingPointsAlignment_False_10_20_True_100_False              723902          723902              1
CorrespodingPointsAlignment_False_10_20_True_10000_False            220007          252886              3
CorrespodingPointsAlignment_False_10_20_False_100_False              55593           71636              9
CorrespodingPointsAlignment_False_10_20_False_10000_False            44419           71861             12
CorrespodingPointsAlignment_False_100_3_True_100_False              184768          185199              3
CorrespodingPointsAlignment_False_100_3_True_10000_False            198657          213868              3
CorrespodingPointsAlignment_False_100_3_False_100_False             224598          309645              3
CorrespodingPointsAlignment_False_100_3_False_10000_False           197863          202002              3
CorrespodingPointsAlignment_False_100_20_True_100_False             293484          309459              2
CorrespodingPointsAlignment_False_100_20_True_10000_False           327253          366644              2
CorrespodingPointsAlignment_False_100_20_False_100_False            420793          422194              2
CorrespodingPointsAlignment_False_100_20_False_10000_False          462634          485542              2
CorrespodingPointsAlignment_True_1_3_True_100_True                    7664            9909             66
CorrespodingPointsAlignment_True_1_3_True_10000_True                  7190            8366             70
CorrespodingPointsAlignment_True_1_3_False_100_True                   6549            8316             77
CorrespodingPointsAlignment_True_1_3_False_10000_True                 6534            7710             77
CorrespodingPointsAlignment_True_10_3_True_100_True                  29052           32940             18
CorrespodingPointsAlignment_True_10_3_True_10000_True                30526           33453             17
CorrespodingPointsAlignment_True_10_3_False_100_True                 28708           32993             18
CorrespodingPointsAlignment_True_10_3_False_10000_True               30630           35973             17
CorrespodingPointsAlignment_True_100_3_True_100_True                264909          320820              3
CorrespodingPointsAlignment_True_100_3_True_10000_True              310902          322604              2
CorrespodingPointsAlignment_True_100_3_False_100_True               246832          250634              3
CorrespodingPointsAlignment_True_100_3_False_10000_True             276006          289061              2
CorrespodingPointsAlignment_False_1_3_True_100_True                  11421           13757             44
CorrespodingPointsAlignment_False_1_3_True_10000_True                11199           12532             45
CorrespodingPointsAlignment_False_1_3_False_100_True                 11474           15841             44
CorrespodingPointsAlignment_False_1_3_False_10000_True               10384           13188             49
CorrespodingPointsAlignment_False_10_3_True_100_True                 36599           47340             14
CorrespodingPointsAlignment_False_10_3_True_10000_True               40702           50754             13
CorrespodingPointsAlignment_False_10_3_False_100_True                41277           52149             13
CorrespodingPointsAlignment_False_10_3_False_10000_True              34286           37091             15
CorrespodingPointsAlignment_False_100_3_True_100_True               254991          258578              2
CorrespodingPointsAlignment_False_100_3_True_10000_True             257999          261285              2
CorrespodingPointsAlignment_False_100_3_False_100_True              247511          248693              3
CorrespodingPointsAlignment_False_100_3_False_10000_True            251807          263865              3
```

Reviewed By: gkioxari

Differential Revision: D19808389

fbshipit-source-id: 83305a58627d2fc5dcaf3c3015132d8148f28c29
2020-04-02 14:46:51 -07:00
..
2020-03-17 08:58:40 -07:00
2020-01-23 11:53:46 -08:00
2020-04-02 14:46:51 -07:00
2020-03-30 11:27:41 -07:00
2020-04-02 14:46:51 -07:00
2020-01-23 11:53:46 -08:00