python

🐍 Python Example

This example shows how to use FracGM and QGM in Python. Make sure the project is built with python binding.

cd examples/python

🏁 Run

python3 ./registration_example.py

This main function will read two point clouds from the data folder and solve the registration problem.

Ground truth:
[[ 0.99692656  0.06687358 -0.04066644 -0.11557694]
 [-0.06612899  0.99761788  0.01940087 -0.03877054]
 [ 0.04186755 -0.01665178  0.99897777  0.11487489]
 [ 0.          0.          0.          1.        ]]

IRLS-TLS:
[[ 0.99770305  0.05456901 -0.04013529 -0.10347472]
 [-0.05379366  0.99834871  0.02015197 -0.02922049]
 [ 0.04116869 -0.01794666  0.99899102  0.11947335]
 [ 0.          0.          0.          1.        ]]

IRLS-GM:
[[ 0.99780643  0.05512631 -0.03665255 -0.11498784]
 [-0.05429248  0.99825157  0.02336934 -0.03684266]
 [ 0.03787673 -0.02132812  0.99905479  0.12285238]
 [ 0.          0.          0.          1.        ]]

GNC-TLS:
[[ 0.99772187  0.05447886 -0.03978846 -0.10370515]
 [-0.05371777  0.99835677  0.01995401 -0.02893912]
 [ 0.04081015 -0.01777121  0.99900887  0.11886464]
 [ 0.          0.          0.          1.        ]]

GNC-GM:
[[ 0.99784527  0.05464861 -0.03630913 -0.11421674]
 [-0.05382516  0.9982789   0.02328262 -0.03659917]
 [ 0.037519   -0.02127811  0.99906935  0.12289097]
 [ 0.          0.          0.          1.        ]]

FracGM:
[[ 0.99780643  0.05512641 -0.03665262 -0.1149879 ]
 [-0.05429257  0.99825156  0.02336957 -0.03684285]
 [ 0.03787682 -0.02132834  0.99905478  0.12285266]
 [ 0.          0.          0.          1.        ]]