$ mkdir build
$ cd build
$ cmake .. && make -j8
$ ./pair_feature_colored_icp ../data/sofa/cloud_bin_0.pcd ../data/sofa/cloud_bin_1.pcd -v 1
visualize correspondences: true
radius scale | cloud source: 0.0851716 , cloud target: 0.0607552
Harris detector with normal:
number of source keypoints found: 186
number of target keypoints found: 117
FPFHEstimationOMP
Matching with Kd-tree...
refining matching...
------------------------------------------------------
pre-IterativeClosestPointWithNormals:
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
pos-IterativeClosestPointWithNormals:
0.732575 0.0556007 -0.678412 1.69052
-0.298211 0.922136 -0.246444 1.26394
0.611886 0.382848 0.692115 -1.61844
0 0 0 1
------------------------------------------------------
pre-estimateRigidTransformation SVD:
0.732575 0.0556007 -0.678412 1.69052
-0.298211 0.922136 -0.246444 1.26394
0.611886 0.382848 0.692115 -1.61844
0 0 0 1
pos-estimateRigidTransformation SVD:
0.850614 0.00452149 -0.533787 0.611311
-0.140561 0.970659 -0.215768 0.776143
0.514968 0.257474 0.822805 -1.4751
0 0 0 1
------------------------------------------------------
estimated scale: 1.00424
estimated rotation:
0.850614 0.00452149 -0.533787
-0.140561 0.970659 -0.215768
0.514968 0.257474 0.822805
final transformation:
0.850614 0.00452149 -0.533787 0.611311
-0.140561 0.970659 -0.215768 0.776143
0.514968 0.257474 0.822805 -1.4751
0 0 0 1
Saved cloud: pair_icp.pcd
Capture 1 | Capture 2 |
---|---|
$ ./pair_feature_colored_icp pair_icp.pcd ../data/sofa/cloud_bin_2.pcd -v 1
Capture 1 | Capture 2 |
---|---|
Points 1 | Points 2 |
---|---|
Final 1 | Final 2 |
---|---|