Refactoring
This is a work in progress. I have opened a merge request just to see all the changes easily in one spot.
I want to separate different part of the code to avoid duplication. I get completely lost with the number of parameters scattered around the code. I want to make it more modular and to have all parameters in one place.
For this I want to use a projector as much as possible, i.e. it stores _points
, _normals
that we can use out of the box.
Currently the code crashes. Will look at it later today.
Short summary of changes:
- uses only projector to project points
- works properly for scaling images up and down
- color mapped from
[0, 255]
to[0, 1]
-> may influence convergence. - when images are scaled, the reference images get scaled as well