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Refactoring

Igor Bogoslavskyi requested to merge refactoring into master

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

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