The result is abnormal.

Open qiushye opened this issue 9 years ago • 4 comments

Thanks for your code first. I used the dataset "fr1/xyz" from Computer Vision Grouphttp://vision.in.tum.de/data/datasets/rgbd-dataset/download to test your code, and used the result "slow.poses", depth images and rgb images to make the point cloud as the image "pointcloud_icp.png". I also used the ground truth to make the point cloud as the image "pointcloud_groundtruth.png". The image "1.png" shows the actual scene. Why the point cloud result of ICP is abnormal? pointcloud_goundtruth

Jun 13 '16 12:06 qiushye

The images order is "1.png", "pointcloud_groundtruth.png", "pointcloud_icp.png".

Jun 13 '16 12:06 qiushye

Looks like you're chaining/using the transformations in the wrong way.

Jun 13 '16 16:06 mp3guy

Is each transformation got between the last image and next image?

Jun 28 '16 15:06 qiushye

No, each is in the global coordinate frame.

Jun 28 '16 16:06 mp3guy