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ICP的时候为什么不考虑edge呢？ #8

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yaoyaolii opened this issue May 25, 2021 · 1 comment

yaoyaolii commented May 25, 2021 •

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您好！我在看 cuda_icp的相关代码时发现，在深度图转点云的函数 depth2cloud_cpu 中您将处于边缘的深度都取了相反数，然后在ICP的时候icp 不考虑这些点云。我想请问下您这样处理的原因是什么呢？

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meiqua commented Jun 25, 2021

emm... 我也忘记了。可能是考虑到深度图滤波后图像边缘的不准？

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