Transform point cloud in GICP align function #887
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jspricke
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Sep 11, 2014
Transform point cloud in GICP align function
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Fixes #754 and #818
I also fixed a dead link in the GICP documentation.
The new changes can be tested using the following code; which is a modified copy of Interactive ICP tutorial code. Test project
I use a GICP object rather than an ICP object; here I use the
alignfunction with a guessed matrixicp.align (*cloud_icp, transformation_matrix.inverse ().cast<float> ());Note that
transformation_matrix.inverse ()is the exact transformation to align the point cloud. As a result the point cloud is perfeclty aligned after the first iteration.If you want to see GICP working just use
icp.align (*cloud_icp);And press space in the viewer to iterate!