This is simple ICP registration codes by using PCL 1.7 APIs.
- pcl > 1.7
- cmake > 2.8
- eigen > 3
icp1_simple.cppsimple registration with ICP. Only results are shown.icp2_iterative_view.cppsimple registration with ICP. Animated registration process is shown.icp3_with_normal_iterative_view.cppregistration by using ICP with normal vector information. Animated registration process is shown.icp4_after_feature_registration.cppregistration by using feature detection, description, matching, followed by ICP for fine registration.transform_estimationestimation of R and t (and scale) from given two sets of points
mkdir build
cd build
cmake ..
make
cd build
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
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.
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.
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
qto proceed. - Outlier matches are rejected.
press
qto proceed. - Aligned the milk to the scene with matched points.
press
qto proceed. - Final refinement by PCL.
Estimated R and t are shown.
press
qto stop.
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 0svd,-m 1dual quaternion,-m 2nonlinear optimization (LM). default:-m 0
- R, t and s are estimatd if
-s 1is 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