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Merge pull request #175 from ethz-asl/feature/update-moveit
Updating MoveIt! to get demo working in master!
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,82 @@ | ||
| import open3d as o3d | ||
| import copy | ||
| import numpy as np | ||
| from scipy.spatial.transform import Rotation as R | ||
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| def draw_registration_result_original_color(source, target, transformation): | ||
| source_temp = copy.deepcopy(source) | ||
| source_temp.transform(transformation) | ||
| o3d.visualization.draw_geometries([source_temp, target], | ||
| zoom=0.5, | ||
| front=[-0.2458, -0.8088, 0.5342], | ||
| lookat=[1.7745, 2.2305, 0.9787], | ||
| up=[0.3109, -0.5878, -0.7468]) | ||
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| print("1. Load two point clouds and show initial pose") | ||
| # source = o3d.io.read_point_cloud("/root/data/run_1/rs_435_2.pcd") | ||
| # target = o3d.io.read_point_cloud("/root/data/run_1/rs_435_3.pcd") | ||
| # source = o3d.io.read_point_cloud("/root/data/run_2/rs_435_2.pcd") | ||
| # target = o3d.io.read_point_cloud("/root/data/run_2/rs_435_3.pcd") | ||
| source = o3d.io.read_point_cloud("/root/data/run_3/rs_435_2.pcd") | ||
| target = o3d.io.read_point_cloud("/root/data/run_3/rs_435_3.pcd") | ||
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| # draw initial alignment | ||
| translation = [-0.340, -0.096, 0.014] # Example translation | ||
| quaternion = [-0.028, 0.063, 0.997, -0.039] # Example quaternion (x, y, z, w) | ||
| rotation_matrix = R.from_quat(quaternion).as_matrix() | ||
| current_transformation = np.eye(4) | ||
| current_transformation[:3, :3] = rotation_matrix | ||
| current_transformation[:3, 3] = translation | ||
| # current_transformation = np.identity(4) | ||
|
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| draw_registration_result_original_color(source, target, current_transformation) | ||
|
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| # initial_pcd = o3d.geometry.PointCloud(source) # Copy using the constructor | ||
| # initial_pcd = initial_pcd.transform(current_transformation) | ||
| # draw_registration_result_original_color(source, target, current_transformation) | ||
|
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||
| # # point to plane ICP | ||
| # print("2. Point-to-plane ICP registration is applied on original point") | ||
| # print(" clouds to refine the alignment. Distance threshold 0.02.") | ||
| # result_icp = o3d.pipelines.registration.registration_icp( | ||
| # source, target, 0.02, current_transformation, | ||
| # o3d.pipelines.registration.TransformationEstimationPointToPoint()) | ||
| # print(result_icp) | ||
| # draw_registration_result_original_color(source, target, | ||
| # result_icp.transformation) | ||
|
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| print("3. Colored point cloud registration") | ||
| voxel_radius = [0.04, 0.02, 0.01, 0.05] | ||
| max_iter = [50, 30, 14, 50] | ||
| for scale in range(3): | ||
| iter = max_iter[scale] | ||
| radius = voxel_radius[scale] | ||
| print([iter, radius, scale]) | ||
|
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| print("3-1. Downsample with a voxel size %.2f" % radius) | ||
| source_down = source.voxel_down_sample(radius) | ||
| target_down = target.voxel_down_sample(radius) | ||
|
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| print("3-2. Estimate normal.") | ||
| source_down.estimate_normals( | ||
| o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30)) | ||
| target_down.estimate_normals( | ||
| o3d.geometry.KDTreeSearchParamHybrid(radius=radius * 2, max_nn=30)) | ||
|
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| print("3-3. Applying colored point cloud registration") | ||
| result_icp = o3d.pipelines.registration.registration_colored_icp( | ||
| source_down, target_down, radius, current_transformation, | ||
| o3d.pipelines.registration.TransformationEstimationForColoredICP(), | ||
| o3d.pipelines.registration.ICPConvergenceCriteria(relative_fitness=1e-6, | ||
| relative_rmse=1e-6, | ||
| max_iteration=iter)) | ||
|
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| # result_icp = o3d.pipelines.registration.registration_icp( | ||
| # source_down, target_down, 0.02, current_transformation, | ||
| # o3d.pipelines.registration.TransformationEstimationPointToPlane()) | ||
|
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| current_transformation = result_icp.transformation | ||
| print(result_icp) | ||
| draw_registration_result_original_color(source, target, | ||
| result_icp.transformation) |
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