The result is abnormal.

Question

The result is abnormal.

Opened this issue 8 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?

Answer 1 · 2016-06-13T12:50:17.000Z

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

Answer 2 · 2016-06-13T16:42:13.000Z

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

Answer 3 · 2016-06-28T15:09:31.000Z

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

Answer 4 · 2016-06-28T16:11:38.000Z

No, each is in the global coordinate frame.