meiqua

open3d只是用来对比的，可以关掉

windows下可能需要改改代码

好的，有时间我改改

不算难，最近会改一下

That's right for one ICP. Unlike rendering multiple poses, multiple ICPs may have different number of points, so I decided to use cuda per thread stream. A simple usage can...

process_batch here is a test for multiple initial poses ICP around one targeted pose so we can jump out of the local minimum a little bit. You can refer to...

switch between projective or nearest neighbor association

interrupt error means segmentation fault or what? Maybe you can insert "gpuErrchk(cudaPeekAtLastError());" before line 274 to see more error messages.

By the way, Does the depth image seem normal if comments back the test.cpp line 64-67?

depth2mask seems too simple to be wrong. Will this happen if you insert codes before depth2mask?