Comments (2)
The readme says
All the implemented algorithms have the PCL registration interface so that they can be used as an inplace replacement for GICP in PCL.
PCL Registration class has this method
/** \brief Get the final transformation matrix estimated by the registration method. */ inline Matrix4 getFinalTransformation () { return (final_transformation_); }
Which is available through your icp instance like
Eigen::Matrix4f final_mat = icp.getFinalTransformation();
Currently I am not able to test this. Butt this is promising. Could you check that?
from fast_gicp.
Hi sir,
"Eigen::Matrix4f final_mat = icp.getFinalTransformation();"
After checked with sample PCD, this line could get the transformation matrix as below.
For your reference.
finalTransformation:
0.99992 0.0125376 -0.00147484 0.491601
-0.0125486 0.999892 -0.00768502 0.119129
0.00137832 0.00770291 0.999969 -0.025012
0 0 0 1
from fast_gicp.
Related Issues (20)
- Crash while using VGICP
- how to take fast_gicp in my own code? HOT 3
- About NeighborSearchMethod HOT 1
- got "for_each: failed to synchronize" in every position using "thrust::for_each" HOT 2
- doc request: aligned output point cloud must be different from source and target HOT 1
- Registration score gradually diverges. HOT 3
- cudaErrorIllegalAddress: an illegal memory access was encountered HOT 1
- I want getTransformationProbability() function in ndt_cuda HOT 1
- Unexpected Performance: Single-Threaded Faster than Multi-Threaded in Point Cloud Alignment HOT 2
- Why is the **weight** the square root of the number of points? HOT 4
- the calculation of **rho** in step_lm() seems wrong HOT 2
- set step size on ndt_cuda
- Optimization Problem for Fast GICP (OpenMP)
- any bug in ndt_cuda? HOT 1
- core dumped HOT 1
- How to implement the pcl version of GICP?
- can't build fast_gicp.lib HOT 2
- fast_gicp iteration HOT 1
- Fast-gicp DO HOT 1
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from fast_gicp.