Wrong 3D rotation estimation

[Titibo26]

Hi,
Did you test the ICP on a 3D point cloud ?
Translation works good but rotation Is allways wrong (even with only one rotation around Y or Z axis)
Thanks

[doesluck1026]

Hi,
Actually I never tested that on 3D and it is normal that it does not work since rotation matrix is created for 2D transformations.
You need to modify it for 3D: https://en.wikipedia.org/wiki/Rotation_matrix see the "General 3D rotations" section

Thank you

[Titibo26]

Actually i have allready modified your script for 3D. Finally, the Rotation Matrix seems good and converge at each step but there is an issue in the global rotation accumulation. I should be able to resove this now.
Thanks

[tv-gc]

Hey @doesluck1026 @Titibo26

I am facing the same problem, trying to use this with 3D clouds. Would it be possible to help fix the rotation error to work in 3D?

Thank you in advance!

[Titibo26]

Hey @doesluck1026 @Titibo26

I am facing the same problem, trying to use this with 3D clouds. Would it be possible to help fix the rotation error to work in 3D?

Thank you in advance!

Hi, you just need to accumulate rotations at each steps :

ret = ICP.ICP_run(M_points, P_points, false);
R = ret.Item1;
t = ret.Item2;

As R and t are the transformation of each specific iterations, just create a global variable which accumulate R :
(for Ex: FinalRotation += R;)