Comments (3)
Hi, setting the sigma explicitly works for me too. I have to read your paper more closely to better understand its implications and a reasonable initialization value for it. Thanks so much!
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Hi @drlight-code ,
Thank you for the feedback.
I also tried the following code using the attached data.
import numpy as np
import transformations as trans
from probreg import filterreg
from probreg import callbacks
from probreg import math_utils as mu
import open3d as o3
sdata = np.loadtxt("frames/frame00000.txt")
tdata = np.loadtxt("frames/frame00001.txt")
def estimate_normals(pcd, params):
pcd.estimate_normals(search_param=params)
pcd.orient_normals_to_align_with_direction()
source = o3.geometry.PointCloud()
source.points = o3.utility.Vector3dVector(sdata)
target = o3.geometry.PointCloud()
target.points = o3.utility.Vector3dVector(tdata)
estimate_normals(target, o3.geometry.KDTreeSearchParamHybrid(radius=0.5, max_nn=50))
cbs = [callbacks.Open3dVisualizerCallback(source, target)]
objective_type = 'pt2pt'
tf_param, _, _ = filterreg.registration_filterreg(source, target,
#target_normals=np.asarray(target.normals),
objective_type=objective_type,
sigma2=1.0,
callbacks=cbs)
rot = trans.identity_matrix()
rot[:3, :3] = tf_param.rot
print("result: ", np.rad2deg(trans.euler_from_matrix(rot)),
tf_param.scale, tf_param.t)
I don't know the cause, but I needed to adjust the parameters.
In this case, I set sigma2=1
.
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I am reopening this in case you want to look into the initial estimation of the sigma2. Thanks again for your support.
from probreg.
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