PointCloudLibrary / PointCloudLibrary/pcl
Line search bug in ndt
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- Dominant language
- C++
- Stars
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- Forks
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- Avg merge
- 4d 10h
- Merged PRs (30d)
- 6
Description
The following PR was merged last week.
[registration] Fix bug in NDT step interval convergence criteria
https://github.com/PointCloudLibrary/pcl/pull/4181
This PR improves the accuracy of ndt, but there is a bug that occasionally kills the process.
hdl_graph_slam issues 131
https://github.com/koide3/hdl_graph_slam/issues/131
I have also ensured that this fix gives the same error as the above issue on ndt.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by comparing the merged registration PR 4181 with hdl_graph_slam issue 131, then reproduce the occasional process termination in NDT. Trace the line-search and step-interval convergence path described in this issue; done means the failure no longer kills the process while the accuracy improvement remains intact.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100