[pdal-commits] [PDAL/PDAL] f95ffc: Output fully composed transformation from ICP (#3074)
chambbj
noreply at github.com
Tue May 26 05:16:54 PDT 2020
Branch: refs/heads/master
Home: https://github.com/PDAL/PDAL
Commit: f95ffce3125fd7bcad0be32aca82311b62dd3f7d
https://github.com/PDAL/PDAL/commit/f95ffce3125fd7bcad0be32aca82311b62dd3f7d
Author: chambbj <brad.chambers at gmail.com>
Date: 2020-05-26 (Tue, 26 May 2020)
Changed paths:
M doc/stages/filters.icp.rst
M filters/IterativeClosestPoint.cpp
M test/unit/filters/IcpFilterTest.cpp
Log Message:
-----------
Output fully composed transformation from ICP (#3074)
* Add test to recover rotation using ICP
* 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
* Add a note in the ICP docs about the composed transformation matrix
More information about the pdal-commits
mailing list