color supported GICP #491
color supported GICP #491
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Hi Michael, thanks for your contribution! Could you add some unit tests? Also, I will put some style comments in line. |
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| * \param[in] lab_weight the color weight | ||
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| GeneralizedIterativeClosestPoint6D(float lab_weight = 0.032f); |
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Please add a space in front of the bracket, cf. http://pointclouds.org/documentation/advanced/pcl_style_guide.php.
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I'm not sure how to add unit tests because the registration tests (test_registration.cpp) use bun0.pcd and bun4.pcd. |
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Unit test: either generate artificial data in the test or add a small pcd file into test/, but I would be ok with adding that in an extra pull request. Could you please fix the conflict, so we can merge this? Thanks! |
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Hi Michael, thanks for the unit test! Can you clean up our patches a little? For example remove the revert and the merge. Have a look into git rebase -i for that. |
This algorithm is based on http://www.is.uni-due.de/fileadmin/literatur/publikation/korn14visapp.pdf . LAB color space is integrated into the GICP.