richardos / icp Goto Github PK

I have two arrays of different sizes .Array A (N2) and Array B(N2) . i am giving the points in these two arrays to your icp where i know that these points are corresponding to each other and the algorithm is aligning them correctly as well. i then get a transformation history of (N23) and i convert it to one (2*3) array by multiplying all of them together but when i apply this transformation matrix to the points i want to be aligned (array b). the mapping isnt taking place . thankyou

Somehow the algorithm thinks it has aligned the two scans, but when I plot them they are far from aligned, I wonder if there is a way to input an initial transformation that the algorithm could work from. The function arguments do not seem to have such an argument.

From how much I understand ICP (which is very little), it still needs an initial estimate. But your algorithm does not seem to need that. Though I did not peek inside the hood too much, so i am not sure if this was a trivial thing on my side.

What?

Replace the transformation_history return value of the icp()-function with transformation.
While the list of transformations might be interesting to investigate the convergence, the total transformation would be a more interesting return value for most applications.

Why?

For instance, it can be helpful when the point cloud has been created by processing a 2D image, which also might be transformed.

Hi Richard,

After running your code, why do i not see any aligned point in the plot?

Hi, i hope you can help me understand this better.

How do you determine the how much values the distance threshold and point pairs should be?

I had tried running it with 2 different distance threshold, 20 and 40. For 2 point clouds that only differs in rotation and translation, i am able to get a acceptable convergence (see below).

However, when i were to use point clouds that has a different size, rotation and translation the ICP convergence is unacceptable for a distance threshold of 40 compared to distance threshold of 20.

Distance Threshold - 20

Distance Threshold - 40