Performance issues with smallgicp, while the old fast-gicp version does very well with the same data. PCD is too small warning.

[VTrencsenyi]

The fast-gicp version of GICP works pretty well with my python pipeline and data. However, with small-gicp I keep getting the warning "target/source pcd is too small" and the resulting accuracy is very poor. Do you have any intuition where the difference may be coming from? Note, this is the case regardless of downsampling.

[koide3]

The warning on the point cloud size is shown when the number of points is less or equals to 10, that indicates something strange is happening on your input point clouds. Can you provide minimum example code and data to reproduce the problem?

small_gicp/include/small_gicp/registration/registration.hpp

Line 34 in e669301

if (traits::size(target) <= 10) {

[junwei1999]

Hi, Koide3. When I tried to run the code in the 01_basic_registration.cpp from the example, this problem occurred. However, I didn't modify any code.
Before the program runs to the align function, the sizes of the target and source point clouds are normal.
But during the execution of the align function, the following warnings are generated:
warning: Empty point cloud
warning: Empty point cloud
warning: target point cloud is too small. |target|=0
warning: source point cloud is too small. |source|=0
Setting the downsampling_resolution in the setting to 0.0 also generates the same warnings.

[koide3]

@junwei1999
Can you print out the number of points just before running example1?

small_gicp/src/example/01_basic_registration.cpp

Line 66 in 2c5e9e6

[junwei1999]

Koide3, thank you for your reply.  The following figure shows the size of the target point cloud and the source point cloud before entering the align function. However, when entering the align template function, the size of both target and source become 0. It seems that only the references are passed and nothing is done, yet the data is lost.

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