[prev in list] [next in list] [prev in thread] [next in thread]
List: vtkusers
Subject: Re: [vtkusers] Unexpected results with ICP transform. Bug?
From: Jérôme <jerome.velut () gmail ! com>
Date: 2011-06-30 12:28:16
Message-ID: BANLkTi=q1stwYDN0KsTegVYx7g6K2pa41g () mail ! gmail ! com
[Download RAW message or body]
[Attachment #2 (multipart/alternative)]
I just tried your python script, with 2 identical spheres as ICP source and
target. The result is as expected :
--------------------------------------------
Rotation around the X-axis: 0.0
Rotation around the Y-axis: -0.0
Rotation around the Z-axis: 0.0
Translation along the X-axis: 0.0
Translation along the Y-axis: 0.0
Translation along the Z-axis: 0.0
-----------------------------------------------
If I move the 2nd sphere by setting its center to (0.1,0.2,0), I also got
the expected result :
------------------------------------------------
Rotation around the X-axis: -0.0
Rotation around the Y-axis: -0.0
Rotation around the Z-axis: 0.0
Translation along the X-axis: -0.1
Translation along the Y-axis: -0.2
Translation along the Z-axis: 0.0
-------------------------------------------------
I am sorry to not being of more help.
Jerome
2011/6/30 J=E9r=F4me <jerome.velut@gmail.com>
> Hi,
> Not for sure, but I think that there is a vtkTransform::Update( ) functio=
n,
> such as for the vtkAlgorithm.
>
> HTH
> Jerome
>
>
> 2011/6/30 Christopher Denter <dennda@the-space-station.com>
>
>> *Bump*
>>
>> No ideas? Still trying to find a solution.
>>
>>
>> On Jun 12, 2011, at 3:35 PM, Christopher Denter wrote:
>>
>> > Hello there,
>> >
>> > I'm trying to help a friend fix a script and am a little confused as t=
o
>> the results of the ICP transform.
>> > For testing purposes, I passed in the exact same dataset twice. I
>> expected to receive something like an identity matrix back, but I get
>> seemingly random (but reproducible) values back instead.
>> > Here's the part of the script that uses the ICP transform and some of
>> the output:
>> > http://paste.pocoo.org/show/404964/
>> >
>> > The ultimate goal would be to extract the best rotation / translation
>> components from the matrix resulting from the ICP algorithm in order to =
know
>> how to rotate/translate one object to best put it in place of the other.
>> > I'm dealing with a bunch of vtkPolyData objects.
>> >
>> > Any help is appreciated.
>> >
>> >
>> > Thanks,
>> > Christopher
>> > _______________________________________________
>> > Powered by www.kitware.com
>> >
>> > Visit other Kitware open-source projects at
>> http://www.kitware.com/opensource/opensource.html
>> >
>> > Please keep messages on-topic and check the VTK FAQ at:
>> http://www.vtk.org/Wiki/VTK_FAQ
>> >
>> > Follow this link to subscribe/unsubscribe:
>> > http://www.vtk.org/mailman/listinfo/vtkusers
>>
>> _______________________________________________
>> Powered by www.kitware.com
>>
>> Visit other Kitware open-source projects at
>> http://www.kitware.com/opensource/opensource.html
>>
>> Please keep messages on-topic and check the VTK FAQ at:
>> http://www.vtk.org/Wiki/VTK_FAQ
>>
>> Follow this link to subscribe/unsubscribe:
>> http://www.vtk.org/mailman/listinfo/vtkusers
>>
>
>
[Attachment #5 (text/html)]
I just tried your python script, with 2 identical spheres as ICP source and target. \
The result is as expected \
:<br><br>--------------------------------------------<br>Rotation around the X-axis: \
0.0<br>Rotation around the Y-axis: -0.0<br> Rotation around the Z-axis: \
0.0<br><br>Translation along the X-axis: 0.0<br>Translation along the Y-axis: \
0.0<br>Translation along the Z-axis: \
0.0<br>-----------------------------------------------<br><br>If I move the 2nd \
sphere by setting its center to (0.1,0.2,0), I also got the expected \
result :<br>
------------------------------------------------<br>Rotation around the X-axis: \
-0.0<br>Rotation around the Y-axis: -0.0<br>Rotation around the Z-axis: \
0.0<br><br>Translation along the X-axis: -0.1<br>Translation along the Y-axis: \
-0.2<br> Translation along the Z-axis: \
0.0<br>-------------------------------------------------<br><br>I am sorry to not \
being of more help.<br><br>Jerome<br><br><br><br><div class="gmail_quote">2011/6/30 \
Jérôme <span dir="ltr"><<a \
href="mailto:jerome.velut@gmail.com">jerome.velut@gmail.com</a>></span><br> \
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px \
solid rgb(204, 204, 204); padding-left: 1ex;">Hi,<br>Not for sure, but I think that \
there is a vtkTransform::Update( ) function, such as for the vtkAlgorithm.<br> \
<br>HTH<br>Jerome<div><div></div><div class="h5"><br><br><div \
class="gmail_quote">2011/6/30 Christopher Denter <span dir="ltr"><<a \
href="mailto:dennda@the-space-station.com" \
target="_blank">dennda@the-space-station.com</a>></span><br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px \
solid rgb(204, 204, 204); padding-left: 1ex;">*Bump*<br> <br>
No ideas? Still trying to find a solution.<br>
<br>
<br>
On Jun 12, 2011, at 3:35 PM, Christopher Denter wrote:<br>
<br>
> Hello there,<br>
><br>
> I'm trying to help a friend fix a script and am a little confused as to the \
results of the ICP transform.<br> > For testing purposes, I passed in the exact \
same dataset twice. I expected to receive something like an identity matrix back, but \
I get seemingly random (but reproducible) values back instead.<br> > Here's \
the part of the script that uses the ICP transform and some of the output:<br> > \
<a href="http://paste.pocoo.org/show/404964/" \
target="_blank">http://paste.pocoo.org/show/404964/</a><br> ><br>
> The ultimate goal would be to extract the best rotation / translation components \
from the matrix resulting from the ICP algorithm in order to know how to \
rotate/translate one object to best put it in place of the other.<br>
> I'm dealing with a bunch of vtkPolyData objects.<br>
><br>
> Any help is appreciated.<br>
><br>
><br>
> Thanks,<br>
> Christopher<br>
> _______________________________________________<br>
> Powered by <a href="http://www.kitware.com" \
target="_blank">www.kitware.com</a><br> ><br>
> Visit other Kitware open-source projects at <a \
href="http://www.kitware.com/opensource/opensource.html" \
target="_blank">http://www.kitware.com/opensource/opensource.html</a><br> ><br>
> Please keep messages on-topic and check the VTK FAQ at: <a \
href="http://www.vtk.org/Wiki/VTK_FAQ" \
target="_blank">http://www.vtk.org/Wiki/VTK_FAQ</a><br> ><br>
> Follow this link to subscribe/unsubscribe:<br>
> <a href="http://www.vtk.org/mailman/listinfo/vtkusers" \
target="_blank">http://www.vtk.org/mailman/listinfo/vtkusers</a><br> <br>
_______________________________________________<br>
Powered by <a href="http://www.kitware.com" target="_blank">www.kitware.com</a><br>
<br>
Visit other Kitware open-source projects at <a \
href="http://www.kitware.com/opensource/opensource.html" \
target="_blank">http://www.kitware.com/opensource/opensource.html</a><br> <br>
Please keep messages on-topic and check the VTK FAQ at: <a \
href="http://www.vtk.org/Wiki/VTK_FAQ" \
target="_blank">http://www.vtk.org/Wiki/VTK_FAQ</a><br> <br>
Follow this link to subscribe/unsubscribe:<br>
<a href="http://www.vtk.org/mailman/listinfo/vtkusers" \
target="_blank">http://www.vtk.org/mailman/listinfo/vtkusers</a><br> \
</blockquote></div><br> </div></div></blockquote></div><br>
_______________________________________________
Powered by www.kitware.com
Visit other Kitware open-source projects at http://www.kitware.com/opensource/opensource.html
Please keep messages on-topic and check the VTK FAQ at: http://www.vtk.org/Wiki/VTK_FAQ
Follow this link to subscribe/unsubscribe:
http://www.vtk.org/mailman/listinfo/vtkusers
[prev in list] [next in list] [prev in thread] [next in thread]
Configure |
About |
News |
Add a list |
Sponsored by KoreLogic