Thomas Whelan
Thomas Whelan
Both systems require an nVidia GPU.
Are you using Eigen and Sophus from Steven Lovegrove's branch?
When you run the evaluation tool from TUM it aligns the trajectories, they don't have to be in the same world frame of reference.
Looks like you're chaining/using the transformations in the wrong way.
No, each is in the global coordinate frame.
What OS, version of CUDA and compiler?
There are some issues with building Eigen within CUDA on Windows, you have to only include the minimal Eigen headers.
I would switch to Ubuntu, the build has not been fully tested on Windows.
I would guess the asymmetry is due to the rounding occurring during pixel transfer here https://github.com/mp3guy/ICPCUDA/blob/master/src/Cuda/estimate.cu#L163. You could try implementing a bilinear interpolation there but I'm not sure how well...
I just switched to kitty terminal instead