gitouni

`pixel2cam` and `DepthWrapper` are not defined at `depthmap_to_points` function, fix it by kornia modules import.

Computation burden during registration

2

I run GoICP to registrate the example point cloud bunny and it takes nearly 3min... Is it a normal time? Or something went wrong? The result of running test.py is...

Thank you for sharing your advanced work. I met CUDA merge_sort error when training on 3DMatch. **Environment:** ``` Ubuntu 20.04 CUDA 11.1 Python 3.8 MinkwoskiEngine v0.5.3 ``` **command** ```sh python...

[Bug] Wrong grad computation for RBF Gaussian Process Regression

6

I think there might be a wrong grad computation in RBF Gaussain Process Kenerl, or I misread the codes here: https://github.com/scikit-learn/scikit-learn/blob/4509e5810be8bafa0199fabba5691516d36f02c2/sklearn/gaussian_process/kernels.py#L1551-L1553 My understanding is `K_gradient` is the gradient of RBF...

The default setting of LIDAR_HEIGHT in ScanContext is [2.0](https://github.com/gisbi-kim/SC-A-LOAM/blob/main/include/scancontext/Scancontext.h#:~:text=const%20double%20LIDAR_HEIGHT%20%3D%202.0%3B), indicating that there is an z-axis offset in recoreded PointClouds. However, most LiDAR datasets like KITTI record LiDAR scans in the...

Hello, @smrfeld ,Thanks for sharing this pybind11-cmake tutorial! Actually, This is not a issue but a request. I am a beginner of `pybind11` and this project helps me a lot....

Please see [here](https://github.com/raulmur/ORB_SLAM2/blob/master/src/MapPoint.cc#:~:text=float%20Distances%5BN%5D%5BN%5D%3B) in MapPoint.cc. I'm confused with why the author used `float` type to define a 2-D array `Distances` instead of using `int` type, since the function `ORBmatcher::DescriptorDistance` just...

Initial values Setting in examples.

2

Dear @dongjing3309, thanks for sharing your examples about gtsam. I have some questions about initial value setting in [this cpp](https://github.com/dongjing3309/gtsam-examples/blob/master/cpp/examples/Pose2SLAMExample.cpp). The graph has been built through `BetweenFactor`. ```cpp graph.add(BetweenFactor(Symbol('x', 1),...

voxel_features_p0_ in function `compute_loss` maybe typo with a extra underscore at the end. Now it's substituted with voxel_features_p0. Another three variables in function `comput_loss` have the same problem too.

function `_points_to_voxel_reverse_kernel` is not defined before use in function `points_to_voxel_second`, now it has been copied from https://github.com/nutonomy/second.pytorch/blob/master/second/core/point_cloud/point_cloud_ops.py