GICP does not use Default Convergence Criteria
#3.329 geöffnet am 4. Sept. 2019
Repository-Metriken
- Stars
- (9.023 Stars)
- PR-Merge-Metriken
- (Durchschn. Merge 8T 7h) (3 gemergte PRs in 30 T)
Beschreibung
The implementation of Generalized ICP does not use the DefaultConvergenceCriteria::Ptr convergence_criteria_ This causes confusion when trying to check the state of convergence after running the alignment. Checking the hasConverged() method will return true but checking the state through getConvergenceState() will return ConvergenceState::CONVERGENCE_CRITERIA_NOT_CONVERGED. Because of the conflicting states, it is difficult understand what the state of the convergence is.
A similar issue was brought up for ICP in issue #1598 and addressed by @WraithKim in PR #2892.
Possible Solution
If the using the DefaultConvergenceCriteria does not apply to GICP, the implementation should override getConvergenceCriteria() to throw an exception in order to avoid confusion. Otherwise, the convergence_criteria_ should be updated with the appropriate convergence conditions.