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ICP-test

This is simple ICP registration codes by using PCL 1.7 APIs.

Requirements

  • pcl > 1.7
  • cmake > 2.8
  • eigen > 3

Codes

  • icp1_simple.cpp simple registration with ICP. Only results are shown.
  • icp2_iterative_view.cpp simple registration with ICP. Animated registration process is shown.
  • icp3_with_normal_iterative_view.cpp registration by using ICP with normal vector information. Animated registration process is shown.
  • icp4_after_feature_registration.cpp registration by using feature detection, description, matching, followed by ICP for fine registration.
  • transform_estimation estimation of R and t (and scale) from given two sets of points

Build

mkdir build
cd build
cmake ..
make

Run

cd build

sample 1

Simple registration with ICP. Only results are shown.

$ ./icp1_simple ../data/bunny/bun{000,045}mesh.ply 
Converged. score =1.19601e-05
   0.827246  0.00948285   -0.561763   0.0341258
  -0.012711     0.99992 -0.00183846 0.000735376
     0.5617  0.00866113    0.827298   0.0383121
          0           0           0           1

sample 2

Simple registration with ICP. Animated registration process is shown.

$ ./icp2_iterative_view ../data/bunny/bun{000,045}mesh.ply 
0.000115243
6.63744e-05
3.57769e-05
2.65457e-05
1.99575e-05
1.64426e-05
1.42573e-05
1.27708e-05
1.17543e-05
1.10658e-05
1.0597e-05
1.02805e-05
1.00704e-05
9.92269e-06
9.82098e-06
9.74741e-06
........(omit)

press q to stop.

sample 3

Registration by using ICP with normal vector information. Animated registration process is shown.

$ ./icp3_with_normal_iterative_view ../data/bunny/bun{000,045}mesh.ply 
0.000228403
8.08289e-05
2.11145e-05
2.11849e-05
1.23206e-05
1.10054e-05
1.09729e-05
1.09652e-05
1.09648e-05
1.09648e-05
1.09648e-05
1.09648e-05
1.09648e-05
1.09648e-05
1.09648e-05
........(omit)

press q to stop.

sample 4

Registration by using ICP with normal vector information. Animated registration process is shown.

$ ./icp4_after_feature_registration ../data/pcl_data/milk.pcd ../data/pcl_data/milk_cartoon_all_small_clorox.pcd 
scale: 0.00639819
detection
number of source keypoints found: 224
number of target keypoints found: 29130
description
Estimating transformation
  0.968323  -0.130764   0.212724   -0.16276
  0.129827   0.991365  0.0184329   0.205639
 -0.213298 0.00976849   0.976938 -0.0389752
         0          0          0          1
  • Correspondences (matches) are shown with lines. There are many outliers. press q to proceed.
  • Outlier matches are rejected. press q to proceed.
  • Aligned the milk to the scene with matched points. press q to proceed.
  • Final refinement by PCL. Estimated R and t are shown. press q to stop.

sample : R and t estimation

Estimation of R and t (and scale) from given two sets of points.

  • One is randomly generated points, and
  • the other is transfomed by R, t (and optionaly s).

Options:

  • -s 1 : scale is estimated. otherwise R and t only. default: -s 0
  • -r 1 : the result changes every time because randomly generated points, R and t are used. otherwise fixed result. default: -r 0
  • -m : select method: -m 0 svd, -m 1 dual quaternion, -m 2 nonlinear optimization (LM). default: -m 0
  • R, t and s are estimatd if -s 1 is given.
$ ./transform_estimation -s 1
method: SVD
use scale: true
forse SVD.
use random seed: false
true R
 0.382339 -0.813161  0.438847         0
 0.327021 -0.325114 -0.887332         0
 0.864219  0.482773  0.141617         0
        0         0         0         1
true T
1.41126
2.84138
1.76013
true sR
 0.568925  -1.20999  0.653009         0
 0.486611 -0.483774  -1.32036         0
  1.28597  0.718373  0.210728         0
        0         0         0         1
true scale 1.48801
true transformation
 0.568925  -1.20999  0.653009   1.41126
 0.486611 -0.483774  -1.32036   2.84138
  1.28597  0.718373  0.210728   1.76013
        0         0         0         1
estimated scale 1.48801
estimated transformation 
 0.568925  -1.20999   0.65301   1.41126
 0.486611 -0.483774  -1.32036   2.84138
  1.28597  0.718373  0.210728   1.76013
        0         0         0         1
  • R, t are estimatd if -s 0 (or no option) is given (default)
$ ./transform_estimation
method: SVD
use scale: false
use random seed: false
true R
 0.382339 -0.813161  0.438847         0
 0.327021 -0.325114 -0.887332         0
 0.864219  0.482773  0.141617         0
        0         0         0         1
true T
1.41126
2.84138
1.76013
true transformation
 0.382339 -0.813161  0.438847   1.41126
 0.327021 -0.325114 -0.887332   2.84138
 0.864219  0.482773  0.141617   1.76013
        0         0         0         1
estimated transformation 
 0.382339 -0.813161  0.438847   1.41126
 0.327021 -0.325114 -0.887332   2.84138
 0.864219  0.482773  0.141617   1.76013
        0         0         0         1