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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
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How to compute the relative position #280

Open MHarbi opened 5 years ago

MHarbi commented 5 years ago

I have consecutive point clouds. Their origin is (0, 0, 0). I am looking for finding the relative position, which is composed of (delta_x, delta_y, delta_z). I have generated the transformation matrix between each reference and source point clouds, but I could not figure out how to compute the relative position.

Does this library helps me to find this position? How?

simonpierredeschenes commented 5 years ago

The relative position (delta_x, delta_y, delta_z) between two point clouds corresponds to the translation described by the transformation matrix.

pomerlef commented 5 years ago

We can add a small explanation on rigid transformation in https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Pointclouds.md