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- import cv2 as cv
- import numpy as np
- def rotation(theta):
- tx, ty, tz = theta
- Rx = np.array([[1, 0, 0], [0, np.cos(tx), -np.sin(tx)], [0, np.sin(tx), np.cos(tx)]])
- Ry = np.array([[np.cos(ty), 0, -np.sin(ty)], [0, 1, 0], [np.sin(ty), 0, np.cos(ty)]])
- Rz = np.array([[np.cos(tz), -np.sin(tz), 0], [np.sin(tz), np.cos(tz), 0], [0, 0, 1]])
- return np.dot(Rx, np.dot(Ry, Rz))
- width = 20
- height = 10
- max_deg = np.pi / 12
- cloud, rotated_cloud = [None]*3, [None]*3
- retval, residual, pose = [None]*3, [None]*3, [None]*3
- noise = np.random.normal(0.0, 0.1, height * width * 3).reshape((-1, 3))
- noise2 = np.random.normal(0.0, 1.0, height * width)
- x, y = np.meshgrid(
- range(-width//2, width//2),
- range(-height//2, height//2),
- sparse=False, indexing='xy'
- )
- z = np.zeros((height, width))
- cloud[0] = np.dstack((x, y, z)).reshape((-1, 3)).astype(np.float32)
- cloud[1] = noise.astype(np.float32) + cloud[0]
- cloud[2] = cloud[1]
- cloud[2][:, 2] += noise2.astype(np.float32)
- R = rotation([
- 0, #np.random.uniform(-max_deg, max_deg),
- np.random.uniform(-max_deg, max_deg),
- 0, #np.random.uniform(-max_deg, max_deg)
- ])
- t = np.zeros((3, 1))
- Rt = np.vstack((
- np.hstack((R, t)),
- np.array([0, 0, 0, 1])
- )).astype(np.float32)
- icp = cv.ppf_match_3d_ICP(100)
- I = np.eye(4)
- print("Unaligned error:\t%.6f" % np.linalg.norm(I - Rt))
- for i in range(3):
- rotated_cloud[i] = np.matmul(Rt[0:3,0:3], cloud[i].T).T + Rt[:3,3].T
- retval[i], residual[i], pose[i] = icp.registerModelToScene(rotated_cloud[i], cloud[i])
- print("ICP error:\t\t%.6f" % np.linalg.norm(I - np.matmul(pose[0], Rt)))
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