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