[pdal-commits] [PDAL/PDAL] f21929: Add test to recover rotation using ICP
chambbj
noreply at github.com
Fri May 15 07:19:25 PDT 2020
Branch: refs/heads/issue-2939/icp-compose-full-xform
Home: https://github.com/PDAL/PDAL
Commit: f2192940090fd3640d48b138d784b41c826a2f46
https://github.com/PDAL/PDAL/commit/f2192940090fd3640d48b138d784b41c826a2f46
Author: Bradley J Chambers <brad.chambers at gmail.com>
Date: 2020-05-15 (Fri, 15 May 2020)
Changed paths:
M test/unit/filters/IcpFilterTest.cpp
Log Message:
-----------
Add test to recover rotation using ICP
Commit: c858d71c52624ecd5570c6d897e2cdf8939e94e3
https://github.com/PDAL/PDAL/commit/c858d71c52624ecd5570c6d897e2cdf8939e94e3
Author: Bradley J Chambers <brad.chambers at gmail.com>
Date: 2020-05-15 (Fri, 15 May 2020)
Changed paths:
M filters/IterativeClosestPoint.cpp
Log Message:
-----------
Report final ICP transformation as a composition individual steps
1. Center all data using centroid of fixed cloud
2. Compute transformation matrix to bring moving cloud into alignment
with fixed
3. Undo centering step to place all data in proper global location
Compare: https://github.com/PDAL/PDAL/compare/f2192940090f%5E...c858d71c5262
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