def main():
argvs = sys.argv
model_num = str(argvs[1])
scene_num = str(argvs[2])
cloud_dir = "/mnt/container-data/remove_plane/"
model_path = cloud_dir + model_num + ".ply"
model_cloud = o3.read_point_cloud(model_path)
scene_path = cloud_dir + scene_num + ".ply"
scene_cloud = o3.read_point_cloud(scene_path)
rot_in = read_rotation(model_num)
model_cloud.transform(rot_in)
model_cloud = o3.voxel_down_sample(model_cloud, voxel_size=0.020)
scene_cloud = o3.voxel_down_sample(scene_cloud, voxel_size=0.020)
# 基準とするpointcloud, 回転させたいpointcloud の順番
cbs = [callbacks.Open3dVisualizerCallback(model_cloud, scene_cloud)]
objective_type = 'pt2pt'
# 基準とするpointcloud, 回転させたいpointcloud の順番
tf_param, _, _ = filterreg.registration_filterreg(
model_cloud,
scene_cloud,
scene_cloud.normals,
objective_type=objective_type,
sigma2=sig,
callbacks=cbs,
maxiter=ter,
tol=ol)
write_rotation(tf_param, scene_num)
import numpy as np
import transforms3d as t3d
from probreg import filterreg
from probreg import callbacks
import utils
source, target = utils.prepare_source_and_target_rigid_3d('cloud_0.pcd',
n_random=0,
normals=True)
cbs = [callbacks.Open3dVisualizerCallback(source, target)]
objective_type = 'pt2pl'
tf_param, _, _ = filterreg.registration_filterreg(
source,
target,
target.normals,
objective_type=objective_type,
sigma2=0.01,
callbacks=cbs)
print("result: ", np.rad2deg(t3d.euler.mat2euler(tf_param.rot)),
tf_param.scale, tf_param.t)
