CPD doesn't modify point cloud about probreg

[Nikhil-Shenoy]

Late response, but yes, this solved the problem. Thank you!

[neka-nat]

Hi @Nikhil-Shenoy

Thank you for trying it out.
Can I get the point cloud data?
I'll check it out too.

[Nikhil-Shenoy]

pcd_data.zip

@neka-nat Here's the data. The library looks really great by the way.

[neka-nat]

Thanks for the data.
I set lmd=1.0e-5 to weaken the regularization,
because when the initial values were far apart, the regularization would be stronger.
I've attached the code I tried and the results.

import numpy as np
import open3d as o3d
from probreg import cpd
from probreg import callbacks
import logging

log = logging.getLogger('probreg')
log.setLevel(logging.DEBUG)

# Load the data

pcd1_filename = "pcd_data/pcd1_centered.pcd"
pcd2_filename = "pcd_data/pcd2_aligned.pcd"

pcd1 = o3d.io.read_point_cloud(pcd1_filename)
pcd2 = o3d.io.read_point_cloud(pcd2_filename)

pcd2_points = np.asarray(pcd2.points)
pcd2.points = o3d.utility.Vector3dVector(pcd2_points * 0.5)

# compute cpd registration
cbs = [callbacks.Open3dVisualizerCallback(pcd2, pcd1)]
tf_param, _, _ = cpd.registration_cpd(pcd2, pcd1, 'nonrigid',
                                      callbacks=cbs, lmd=1.0e-5)