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submodule
opencv_contrib
Commits
d9f5a629
Commit
d9f5a629
authored
Nov 22, 2017
by
Alexander Alekhin
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Merge pull request #1458 from nszceta:master
parents
f94610a0
a6a347e5
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ppf_icp.py
modules/surface_matching/samples/ppf_icp.py
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modules/surface_matching/samples/ppf_icp.py
View file @
d9f5a629
...
...
@@ -20,8 +20,8 @@ noise = np.random.normal(0.0, 0.1, height * width * 3).reshape((-1, 3))
noise2
=
np
.
random
.
normal
(
0.0
,
1.0
,
height
*
width
)
x
,
y
=
np
.
meshgrid
(
range
(
-
width
/
2
,
width
/
2
),
range
(
-
height
/
2
,
height
/
2
),
range
(
-
width
/
/
2
,
width
/
/
2
),
range
(
-
height
/
/
2
,
height
/
/
2
),
sparse
=
False
,
indexing
=
'xy'
)
z
=
np
.
zeros
((
height
,
width
))
...
...
@@ -42,7 +42,7 @@ Rt = np.vstack((
np
.
array
([
0
,
0
,
0
,
1
])
))
.
astype
(
np
.
float32
)
icp
=
cv2
.
ppf_match_3d
.
ICP
(
100
)
icp
=
cv2
.
ppf_match_3d
_
ICP
(
100
)
I
=
np
.
eye
(
4
)
print
(
"Unaligned error:
\t
%.6
f"
%
np
.
linalg
.
norm
(
I
-
Rt
))
...
...
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