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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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