Fix several issues #6193
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Fix several issues #6193
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This leads to a more precise projection matrix, and, in some cases, avoids high residuals although the point cloud is projectable. Fixes PointCloudLibrary#6181
It only worked so far because it was never tested with different random seeds. On OpenBSD, where rand() gives truly random numbers (instead of repeatable, pseudo-random numbers), this test fails occasionally. The test now uses a real-world point cloud instead of a few random points, which is arguably more realistic. See PointCloudLibrary#6178
The ellipse and torus models both need a lot of memory during compilation. On the Windows CI, there have been warnings that the free memory is almost used up while building the sample consensus library. The workaround is to not compile these two models at the same time, so that the peak memory consumption is lower. In the long term, we should find out why these two models need so much memory, and improve that.
larshg
approved these changes
Dec 9, 2024
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