Vanilla ICP #2875
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Vanilla ICP #2875
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@edgarriba I have created an initial version. Can you please take a look at it ? |
cjpurackal
reviewed
May 6, 2024
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| def iterative_closest_point( | ||
| points_in_a: torch.Tensor, points_in_b: torch.Tensor, max_iterations: int = 20, tolerance: float = 1e-4 |
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Suggested change
| points_in_a: torch.Tensor, points_in_b: torch.Tensor, max_iterations: int = 20, tolerance: float = 1e-4 | |
| points_in_a: torch.Tensor, points_in_b: torch.Tensor, max_iterations: int = 20, tolerance: float = 1e-4, verbose: bool = False |
cjpurackal
reviewed
May 6, 2024
| The relative transformation between the two pointcloud with shape 3x4 | ||
| """ | ||
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| src = points_in_a.clone() |
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add some basic shape and type check
KORNIA_CHECK_SHAPE(points_in_a, ["B", "3"])
cjpurackal
reviewed
May 6, 2024
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| t = b_mean.T - R @ a_mean.T | ||
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| points_in_a = (points_in_a.T @ R + t.unsqueeze(-1)).T |
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Suggested change
| points_in_a = (points_in_a.T @ R + t.unsqueeze(-1)).T | |
| points_in_a = points_in_a @ R + t |
cjpurackal
reviewed
May 6, 2024
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| src = points_in_a.clone() | ||
| dst = points_in_b.clone() | ||
| prev_error = 0 |
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Suggested change
| prev_error = 0 | |
| prev_error = 0 | |
| R = torch.eye(3) | |
| t = torch.zeros(3) |
cjpurackal
reviewed
May 6, 2024
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| # print(points_in_a) | ||
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| return 0 |
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Suggested change
| return 0 | |
| return torch.cat([R, t[:, None]], dim=1) |
cjpurackal
reviewed
May 6, 2024
| prev_error = mean_error | ||
| print(mean_error, iter) | ||
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| # print(points_in_a) |
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Suggested change
| # print(points_in_a) |
cjpurackal
reviewed
May 6, 2024
| if torch.abs(prev_error - mean_error) < tolerance: | ||
| break | ||
| prev_error = mean_error | ||
| print(mean_error, iter) |
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Suggested change
| print(mean_error, iter) | |
| if verbose: | |
| print(f"ICP Mean error: {mean_error}, iter: {iter}") |
cjpurackal
reviewed
May 6, 2024
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| Args: | ||
| points_in_a: The point cloud in the source coordinates frame A with shape Nx3 | ||
| points_in_b: The point cloud in the source coordinates frame A with shape Nx |
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Suggested change
| points_in_b: The point cloud in the source coordinates frame A with shape Nx | |
| points_in_b: The point cloud in the source coordinates frame A with shape Nx3 |
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@jeffin07 can you write a test to verify the functionality? |
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Changes
Added Vanilla ICP
Fixes # (issue)
#2649
Type of change
Checklist