Point Cloud Match

script

• Cloud point match

• for greeb x
  • 高斯分布得到子集
• for red dot
  • 随机抽样得到的子集
• other is total tie point

• Block 3 tie point

• 尝试多对多ICP

def match(pc_gps, pc_model, t):
    scala = np.array([110959.71900894716, 90118.10182968706, 1])
    target_pair = []
    def distance(source, target):
        return np.linalg.norm(scala * (source - t) - target, axis=1)
    for i in tqdm(range(len(pc_gps)), desc="inner", leave=True):
        dis = distance(source = pc_gps[i, :], 
                       target = pc_model[:, :])
        closest = np.argmin(dis)
        target_pair.append(pc_model[closest, :])
    return (((pc_gps[:, :] * scala) - target_pair)/scala).mean(axis=0)