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add proper offset and fix missing use of self.max_distance

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Hannes F. Kuchelmeister
2021-07-23 13:04:33 +02:00
parent 1de42f1e5d
commit 1bee0c4b50
1 changed files with 4 additions and 4 deletions
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8
situr/registration/registration.py
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@@ -66,10 +66,10 @@ class IcpRegistrationFunction(RegistrationFunction):
target = o3.geometry.PointCloud() target = o3.geometry.PointCloud()
target.points = o3.utility.Vector3dVector(extend_dim(reference_peaks)) target.points = o3.utility.Vector3dVector(extend_dim(reference_peaks))
reg_p2p = o3.pipelines.registration.registration_icp( reg_p2p = o3.pipelines.registration.registration_icp(
source, target, 200) source, target, self.max_distance)
print('Transformation: ') return ScaleRotateTranslateTransform(
print(reg_p2p.transformation) reg_p2p.transformation[0:2, 0:2],
return ScaleRotateTranslateTransform(reg_p2p.transformation[0:2, 0:2]) offset=reg_p2p.transformation[[1, 0], 3])
class Registration: class Registration: