data2D_path = '../data/data2D.ply'
# Load clouds
ref2D_cloud = read_ply(ref2D_path)
data2D_cloud = read_ply(data2D_path)
ref2D_cloud = np.asarray([np.asarray(list(x)) for x in ref2D_cloud]).T
data2D_cloud = np.asarray([np.asarray(list(x))
for x in data2D_cloud]).T
# Apply ICP
data_aligned, R_list, T_list, neighbors_list, rms_list = icp_point_to_point(
data2D_cloud, ref2D_cloud, 15, 1e-7)
# Show ICP
show_ICP(data2D_cloud, ref2D_cloud, R_list, T_list, neighbors_list)
plt.plot(rms_list)
plt.xlabel('iteration')
plt.ylabel('RMSE')
plt.show()
# If statement to skip this part if wanted
if False:
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
# Load clouds
bunny_o_cloud = read_ply(bunny_o_path)
# Load clouds
ref2D_file = read_ply(ref2D_path)
data2D_file = read_ply(data2D_path)
ref2D_pts = np.vstack((ref2D_file['x'], ref2D_file['y'])) # data
data2D_pts = np.vstack((data2D_file['x'], data2D_file['y'])) # ref
# Apply ICP
max_iter = 30
RMS_threshold = 0.06
data_aligned, R_list, T_list, neighbors_list, rms_list = icp_point_to_point(
data2D_pts, ref2D_pts, max_iter, RMS_threshold)
# Show ICP
show_ICP(data2D_pts, ref2D_pts, R_list, T_list, neighbors_list)
plt.style.use('seaborn')
plt.plot(rms_list)
plt.xlabel("iteration")
plt.ylabel("RMS")
plt.show()
# If statement to skip this part if wanted
if False:
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
# Load clouds
bunny_original_file = read_ply(bunny_o_path)
#
# If statement to skip this part if wanted
if False:
# Load clouds
ref2D_path = '../data/ref2D.ply'
data2D_path = '../data/data2D.ply'
ref2D_ply = read_ply(ref2D_path)
data2D_ply = read_ply(data2D_path)
ref2D = np.vstack((ref2D_ply['x'], ref2D_ply['y']))
data2D = np.vstack((data2D_ply['x'], data2D_ply['y']))
data2D_opt, R_list, T_list, neighbors_list, RMS_list = icp_point_to_point(
data2D, ref2D, 10, 1e-4)
show_ICP(data2D, ref2D, R_list, T_list, neighbors_list)
# If statement to skip this part if wanted
if False:
# Load clouds
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
bunny_o_ply = read_ply(bunny_o_path)
bunny_p_ply = read_ply(bunny_p_path)
bunny_o = np.vstack(
(bunny_o_ply['x'], bunny_o_ply['y'], bunny_o_ply['z']))
bunny_p = np.vstack(
(bunny_p_ply['x'], bunny_p_ply['y'], bunny_p_ply['z']))
bunny_p_opt, R_list, T_list, neighbors_list, RMS_list = icp_point_to_point(
ref = read_ply(ref2D_path)
ref = np.vstack((ref['x'], ref['y']))
data = read_ply(data2D_path)
data = np.vstack((data['x'], data['y']))
# Apply ICP
data_aligned, R_list, T_list, neighbors_list, RMS_list = icp_point_to_point(
data, ref, 50, 1e-1)
# Show ICP
plt.plot(RMS_list)
plt.title(
"Evolution of the RMS between data and matched points of ref")
plt.show()
show_ICP(data, ref, R_list, T_list, neighbors_list)
# If statement to skip this part if wanted
if False:
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_r_path = '../data/bunny_perturbed.ply'
# Load point cloud
ref = read_ply(bunny_o_path)
ref = np.vstack((ref['x'], ref['y'], ref['z']))
data = read_ply(bunny_r_path)
data = np.vstack((data['x'], data['y'], data['z']))
# Apply ICP
# Load clouds
ref2D_file = read_ply(ref2D_path)
data2D_file = read_ply(data2D_path)
ref2D_pts = np.vstack((ref2D_file['x'], ref2D_file['y'])) # data
data2D_pts = np.vstack((data2D_file['x'], data2D_file['y'])) # ref
# Apply ICP
max_iter = 30
RMS_threshold = 0.06
data_aligned, R_list, T_list, neighbors_list, rms_list = icp_point_to_point(
data2D_pts, ref2D_pts, max_iter, RMS_threshold)
# Show ICP
#write_ply('../data2D_transform.ply', [data_aligned.T], ['x', 'y'])
show_ICP(data2D_pts, ref2D_pts, R_list, T_list, neighbors_list)
plot_rms(rms_list, "RMS on Data2D")
# If statement to skip this part if wanted
if False:
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
# Load clouds
bunny_o_file = read_ply(bunny_o_path)
bunny_p_file = read_ply(bunny_p_path)
bunny_o_pts = np.vstack(
(bunny_o_file['x'], bunny_o_file['y'], bunny_o_file['z'])) # data
data2D_path = '../data/data2D.ply'
# Load clouds
# Load clouds
ref = read_ply(ref2D_path)
ref = np.vstack((ref['x'], ref['y']))
data = read_ply(data2D_path)
data = np.vstack((data['x'], data['y']))
# Apply ICP
data_aligned, R_list, T_list, neighbors_list, RMS_list = icp_point_to_point(
data, ref, 20, 1e-6)
# Show ICP
show_ICP(data_aligned, ref, R_list, T_list, neighbors_list)
# plot RMS
plot_RMS(RMS_list)
# If statement to skip this part if wanted
if False:
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
# Load clouds
ref = read_ply(bunny_o_path)
ref = np.vstack((ref['x'], ref['y'], ref['z']))