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Different transformation matrix at every execution #491
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Hi @siddas27,
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I am using the icp_advance_api.py code in examples/python with default.yaml on my own dataset.
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@aguenette , this seems to be from the Python binding. Any idea? |
@pomerlef I don't why it's doing this, but I've got the same behavior on my side as well. I tried to rebuild the bindings after pulling the latest changes on the Then, I checked out the commit (99d2937) when we merge the bindings into So, I guess something has been broken since then and I don't know what. It will require some more investigation to find what happened and since when. @siddas27 Can you checkout the commit 99d2937, rebuild the bindings and verified that it solves the problem? Can you also gives us more information about your configurations and which Python version did you use to build the bindings? Thanks! |
@aguenette The |
@boxanm Thanks for your help! I realized that I was building the bindings with Also, you are right about the Now, the So, @siddas27 I would say that it's a normal behavior now. Here are some results as an example: On the # Execute from the build directory
# .examples/icp_advance_api ../data/car_cloud400.csv ../data/car_cloud401.csv
# First run
match ratio: 0.850013
------------------
Haussdorff distance: 21.625 m
Haussdorff quantile distance: 0.32634 m
Robust mean distance: 0.0935902 m
------------------
ICP transformation:
0.981613 0.169668 -0.0874597 0.0728684
-0.152805 0.973057 0.172658 0.190908
0.114398 -0.156119 0.981091 -0.0342262
0 0 0 1
# Second run
match ratio: 0.850034
------------------
Haussdorff distance: 21.6181 m
Haussdorff quantile distance: 0.324561 m
Robust mean distance: 0.0943196 m
------------------
ICP transformation:
0.981689 0.169818 -0.0863088 0.065078
-0.153195 0.973086 0.172148 0.192254
0.11322 -0.155774 0.981283 -0.035326
0 0 0 1
# Third run
match ratio: 0.850016
------------------
Haussdorff distance: 21.601 m
Haussdorff quantile distance: 0.32597 m
Robust mean distance: 0.0933052 m
------------------
ICP transformation:
0.981597 0.170031 -0.0869248 0.0716563
-0.153239 0.972973 0.172749 0.191294
0.113948 -0.15625 0.981123 -0.0340109
0 0 0 1
# from the examples directory (need to install the library or to move it into this directory from the build/python directory)
# python3 icp_advance_api
# First run
match ratio: 0.75005979
------------------
Haussdorff distance: 21.5839 m
Haussdorff quantile distance: 0.327589 m
Robust mean distance: 0.0709974 m
------------------
3D ICP transformation:
0.98149588 0.17015992 -0.08781479 0.08364291
-0.15315218 0.97287308 0.17338505 0.19156804
0.11493583 -0.15672768 0.98093129 -0.02654031
0. 0. 0. 1.
# Second run
match ratio: 0.75003978
------------------
Haussdorff distance: 21.5939 m
Haussdorff quantile distance: 0.327172 m
Robust mean distance: 0.0713101 m
------------------
3D ICP transformation:
0.98148068 0.17014484 -0.08801371 0.07863176
-0.15305848 0.97281602 0.17378746 0.18852621
0.11519018 -0.15709779 0.98084224 -0.02672877
0. 0. 0. 1.
# Third run
match ratio: 0.75001986
------------------
Haussdorff distance: 21.5782 m
Haussdorff quantile distance: 0.326335 m
Robust mean distance: 0.0712839 m
------------------
3D ICP transformation:
0.98148135 0.17022335 -0.08785431 0.08024962
-0.15325454 0.97292646 0.17299467 0.19169791
0.11492352 -0.15632697 0.98099667 -0.02698822
0. 0. 0. 1. And on 99d2937: # from the build directory
# .examples/icp_advance_api ../data/car_cloud400.csv ../car_cloud401.csv
# First run
match ratio: 0.850048
------------------
Haussdorff distance: 21.5966 m
Haussdorff quantile distance: 0.325087 m
Robust mean distance: 0.0934736 m
------------------
ICP transformation:
0.981596 0.170035 -0.0869334 0.0732947
-0.153272 0.973012 0.172496 0.192628
0.113918 -0.155997 0.981166 -0.0353611
0 0 0 1
# Second run
match ratio: 0.850048
------------------
Haussdorff distance: 21.5966 m
Haussdorff quantile distance: 0.325087 m
Robust mean distance: 0.0934736 m
------------------
ICP transformation:
0.981596 0.170035 -0.0869334 0.0732947
-0.153272 0.973012 0.172496 0.192628
0.113918 -0.155997 0.981166 -0.0353611
0 0 0 1
# Third run
match ratio: 0.850048
------------------
Haussdorff distance: 21.5966 m
Haussdorff quantile distance: 0.325087 m
Robust mean distance: 0.0934736 m
------------------
ICP transformation:
0.981596 0.170035 -0.0869334 0.0732947
-0.153272 0.973012 0.172496 0.192628
0.113918 -0.155997 0.981166 -0.0353611
0 0 0 1
# from the examples directory (need to install the library or to move it into this directory from the build/python directory)
# python3 icp_advance_api
# First run
match ratio: 0.75003948
------------------
Haussdorff distance: 21.5431 m
Haussdorff quantile distance: 0.326925 m
Robust mean distance: 0.0707997 m
------------------
3D ICP transformation:
0.98137763 0.1707142 -0.08806028 0.08385201
-0.1536492 0.97277418 0.17350022 0.18948691
0.11528171 -0.15673884 0.98088891 -0.02664683
0. 0. 0. 1.
# Second run
match ratio: 0.75003948
------------------
Haussdorff distance: 21.5431 m
Haussdorff quantile distance: 0.326925 m
Robust mean distance: 0.0707997 m
------------------
3D ICP transformation:
0.98137763 0.1707142 -0.08806028 0.08385201
-0.1536492 0.97277418 0.17350022 0.18948691
0.11528171 -0.15673884 0.98088891 -0.02664683
0. 0. 0. 1.
# Third run
match ratio: 0.75003948
------------------
Haussdorff distance: 21.5431 m
Haussdorff quantile distance: 0.326925 m
Robust mean distance: 0.0707997 m
------------------
3D ICP transformation:
0.98137763 0.1707142 -0.08806028 0.08385201
-0.1536492 0.97277418 0.17350022 0.18948691
0.11528171 -0.15673884 0.98088891 -0.02664683
0. 0. 0. 1. |
I am getting different values with large differences every time I execute the file.
Is there anything I am doing wrong?
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