- robust icp(fast and robust icp:paper code, robust symmetric icp:paper code)
mesh sampleserialize- c-api
mls normalnormal direction without viewpoint- edge point
smooth point for ppf/icp? (project point on plane) mls?- serialize hash for safety
- combine sample/normal estimation/key point?
- point to plane icp: don't need compute scene normal, model point with normal as target in icp process
- view based score --- most of time, only part of model have be seen in scene, that limit the match score no greater than a certain ratio. We can pre-train the visiable part in all viewpoint, then usd the closest viewpoint with target when compute score.
- detect edge point at orgnazied point cloud(see 7.)---less point, less compute; to detect some flat things.
- visinazation tool
- stable normal eastimate(iter based) --- Globally Consistent Normal Orientation for Point Clouds by Regularizing the Winding-Number Field
- port this code base to opencv 3d module