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any bug in ndt_cuda? #153

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PigBroA opened this issue Apr 8, 2024 · 1 comment
Open

any bug in ndt_cuda? #153

PigBroA opened this issue Apr 8, 2024 · 1 comment

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@PigBroA
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PigBroA commented Apr 8, 2024

Dear @koide3 , and all

I tried to utilize ndt_cuda on fast_gicp package.

However, there is no update transformation when I call "align" function.
(It just follows initial value as "align" function's second argument)

I tracked the code and found "linearize" fucntion just output "0" matrices(H & b).
("linearize" fucntion is called in "step_lm" function at lsq_registration_impl.hpp)

Can I resolve the problem or do you have any solution for ndt with cuda?

Thanks.

@koide3
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koide3 commented Apr 8, 2024

Honestly, ndt_cuda might be buggy and unstable because it was written in one day without comprehensive tests. I'm considering to implement a new one in small_gicp.

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