fix noise bound & print statement for rot err

Author: jingnanshi

examples/teaser_cpp_fpfh/CMakeLists.txt

@@ -6,13 +6,14 @@ set (CMAKE_CXX_STANDARD 14)
 find_package(Eigen3 REQUIRED)
 find_package(teaserpp REQUIRED)
 find_package(PCL 1.9 REQUIRED COMPONENTS common features kdtree)
+find_package(OpenMP)
 
 # Change this line to include your own executable file
 add_executable(teaser_cpp_fpfh teaser_cpp_fpfh.cc)
 
 # Link to teaserpp & Eigen3
 target_link_libraries(teaser_cpp_fpfh Eigen3::Eigen teaserpp::teaser_registration teaserpp::teaser_features
-        teaserpp::teaser_io ${PCL_LIBRARIES})
+        teaserpp::teaser_io ${PCL_LIBRARIES} OpenMP::OpenMP_CXX)
 
 # Copy the data files to build directory
 file(COPY ../example_data/

examples/teaser_cpp_fpfh/teaser_cpp_fpfh.cc

@@ -10,7 +10,7 @@
 #include <teaser/matcher.h>
 
 // Macro constants for generating noise and outliers
-#define NOISE_BOUND 0.05
+#define NOISE_BOUND 0.001
 #define N_OUTLIERS 1700
 #define OUTLIER_TRANSLATION_LB 5
 #define OUTLIER_TRANSLATION_UB 10
@@ -22,8 +22,7 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
 void addNoiseAndOutliers(Eigen::Matrix<double, 3, Eigen::Dynamic>& tgt) {
   // Add uniform noise
   Eigen::Matrix<double, 3, Eigen::Dynamic> noise =
-      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND;
-  NOISE_BOUND / 2;
+      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND / 2;
   tgt = tgt + noise;
 
   // Add outliers
@@ -120,7 +119,7 @@ int main() {
   std::cout << T.topLeftCorner(3, 3) << std::endl;
   std::cout << "Estimated rotation: " << std::endl;
   std::cout << solution.rotation << std::endl;
-  std::cout << "Error (deg): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation)
+  std::cout << "Error (rad): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation)
             << std::endl;
   std::cout << std::endl;
   std::cout << "Expected translation: " << std::endl;

examples/teaser_cpp_ply/CMakeLists.txt

@@ -5,12 +5,13 @@ set(CMAKE_CXX_STANDARD 14)
 
 find_package(Eigen3 REQUIRED)
 find_package(teaserpp REQUIRED)
+find_package(OpenMP)
 
 # Change this line to include your own executable file
 add_executable(teaser_cpp_ply teaser_cpp_ply.cc)
 
 # Link to teaserpp & Eigen3
-target_link_libraries(teaser_cpp_ply Eigen3::Eigen teaserpp::teaser_registration teaserpp::teaser_io)
+target_link_libraries(teaser_cpp_ply Eigen3::Eigen teaserpp::teaser_registration teaserpp::teaser_io OpenMP::OpenMP_CXX)
 
 # Copy the data files to build directory
 file(COPY ../example_data/

examples/teaser_cpp_ply/teaser_cpp_ply.cc

@@ -21,8 +21,7 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
 void addNoiseAndOutliers(Eigen::Matrix<double, 3, Eigen::Dynamic>& tgt) {
   // Add uniform noise
   Eigen::Matrix<double, 3, Eigen::Dynamic> noise =
-      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND;
-  NOISE_BOUND / 2;
+      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND / 2;
   tgt = tgt + noise;
 
   // Add outliers
@@ -103,7 +102,7 @@ int main() {
   std::cout << T.topLeftCorner(3, 3) << std::endl;
   std::cout << "Estimated rotation: " << std::endl;
   std::cout << solution.rotation << std::endl;
-  std::cout << "Error (deg): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation)
+  std::cout << "Error (rad): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation)
             << std::endl;
   std::cout << std::endl;
   std::cout << "Expected translation: " << std::endl;