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"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
"[Open3D INFO] WebRTC GUI backend enabled.\n",
"[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n"
]
}
],
"source": [
"import os\n",
"import sys\n",
"import numpy as np\n",
"import open3d as o3d\n",
"import copy\n",
"\n",
"def load_transformation_matrix(file_path):\n",
" \"\"\"\n",
" Load a 4x4 transformation matrix from a text file.\n",
" The file should have 4 rows with 4 numbers each.\n",
" \"\"\"\n",
" try:\n",
" T = np.loadtxt(file_path)\n",
" if T.shape != (4, 4):\n",
" raise ValueError(f\"Matrix shape is {T.shape}, expected (4, 4)\")\n",
" return T\n",
" except Exception as e:\n",
" print(f\"Error loading {file_path}: {e}\")\n",
" return None\n",
"\n",
"def compute_rmse(target_pcd, transformed_source_pcd):\n",
" \"\"\"\n",
" Compute the RMSE error between the target point cloud and\n",
" the transformed source point cloud using nearest neighbor distances.\n",
" \"\"\"\n",
" distances = target_pcd.compute_point_cloud_distance(transformed_source_pcd)\n",
" distances = np.asarray(distances)\n",
" if distances.size == 0:\n",
" return float('inf')\n",
" rmse = np.sqrt(np.mean(distances**2))\n",
" return rmse\n",
"\n",
"def find_best_registration(results_dir, global_target_pcd, global_source_pcd):\n",
" best_error = float('inf')\n",
" best_folder = None\n",
" best_T = None\n",
" best_source_pcd = None\n",
" best_target_pcd = None\n",
"\n",
" # Iterate over subdirectories in the results directory.\n",
" for folder in os.listdir(results_dir):\n",
" folder_path = os.path.join(results_dir, folder)\n",
" if os.path.isdir(folder_path):\n",
" trans_file = os.path.join(folder_path, \"m3trans.txt\")\n",
" if not os.path.isfile(trans_file):\n",
" print(f\"No m3trans.txt found in {folder_path}, skipping.\")\n",
" continue\n",
"\n",
" T = load_transformation_matrix(trans_file)\n",
" if T is None:\n",
" continue\n",
"\n",
" # Try to load local source and target point clouds based on folder name.\n",
" # Expected folder name pattern: cluster_<sourceID>_source_cluster_<targetID>_target\n",
" folder_name = os.path.basename(folder_path)\n",
" parts = folder_name.split('_')\n",
" if (len(parts) >= 6 and parts[0] == \"cluster\" and parts[2] == \"source\" and \n",
" parts[3] == \"cluster\" and parts[5] == \"target\"):\n",
" source_cluster = parts[1]\n",
" target_cluster = parts[4]\n",
" if int(source_cluster) <0: continue\n",
" src_file = os.path.join(results_dir, f\"cluster_{source_cluster}_source.ply\")\n",
" tgt_file = os.path.join(results_dir, f\"cluster_{target_cluster}_target.ply\")\n",
" if os.path.isfile(src_file) and os.path.isfile(tgt_file):\n",
" local_source = o3d.io.read_point_cloud(src_file)\n",
" local_target = o3d.io.read_point_cloud(tgt_file)\n",
" print(f\"Loaded local source: {src_file} and target: {tgt_file} for folder {folder_name}\")\n",
" else:\n",
" print(f\"Local source or target file not found for folder {folder_name}. Using global point clouds.\")\n",
" local_source = copy.deepcopy(global_source_pcd)\n",
" local_target = copy.deepcopy(global_target_pcd)\n",
" else:\n",
" local_source = copy.deepcopy(global_source_pcd)\n",
" local_target = copy.deepcopy(global_target_pcd)\n",
" print(f\"Folder name {folder_name} does not match expected pattern. Using global point clouds.\")\n",
" if np.nan in T: print(\"Nan\"); continue\n",
" # Apply transformation to a copy of the source.\n",
" transformed_source = copy.deepcopy(local_source)\n",
" transformed_source.transform(T)\n",
" \n",
" local_target.paint_uniform_color([1, 0, 0]) # red for target\n",
" transformed_source.paint_uniform_color([0, 1, 0]) # blue for transformed source\n",
"\n",
" # Visualize the best registration result\n",
" # print(\"Visualizing best registration result ...\")\n",
" # o3d.visualization.draw_geometries(\n",
" # [local_target, transformed_source],\n",
" # window_name=\"Best Registration Result\",\n",
" # width=800, height=600\n",
" # )\n",
"\n",
" # Compute RMSE error between local target and transformed source.\n",
" error = compute_rmse(local_target, transformed_source)\n",
" print(f\"Folder '{folder_path}' RMSE error: {error:.4f}\")\n",
"\n",
" if error < best_error:\n",
" best_error = error\n",
" best_folder = folder_path\n",
" best_T = T\n",
" best_source_pcd = local_source\n",
" best_target_pcd = local_target\n",
"\n",
" return best_folder, best_error, best_T, best_source_pcd, best_target_pcd"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: gt_filtered.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: noisy_filtered_4.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_0_source.ply and target: ./cluster_0_target.ply for folder cluster_0_source_cluster_0_target\n",
"Folder './cluster_0_source_cluster_0_target' RMSE error: 0.0004\n",
"No m3trans.txt found in ./part, skipping.\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_6_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_6_source.ply and target: ./cluster_1_target.ply for folder cluster_6_source_cluster_1_target\n",
"Folder './cluster_6_source_cluster_1_target' RMSE error: 39.5467\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_3_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_3_source.ply and target: ./cluster_1_target.ply for folder cluster_3_source_cluster_1_target\n",
"Folder './cluster_3_source_cluster_1_target' RMSE error: 47.2294\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_10_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_10_source.ply and target: ./cluster_0_target.ply for folder cluster_10_source_cluster_0_target\n",
"Folder './cluster_10_source_cluster_0_target' RMSE error: 0.0002\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_1_source.ply and target: ./cluster_1_target.ply for folder cluster_1_source_cluster_1_target\n",
"Folder './cluster_1_source_cluster_1_target' RMSE error: 48.3564\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_0_source.ply and target: ./cluster_1_target.ply for folder cluster_0_source_cluster_1_target\n",
"Folder './cluster_0_source_cluster_1_target' RMSE error: 48.1529\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_9_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_9_source.ply and target: ./cluster_0_target.ply for folder cluster_9_source_cluster_0_target\n",
"Folder './cluster_9_source_cluster_0_target' RMSE error: 0.0004\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_10_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_10_source.ply and target: ./cluster_1_target.ply for folder cluster_10_source_cluster_1_target\n",
"Folder './cluster_10_source_cluster_1_target' RMSE error: 45.4237\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_8_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_8_source.ply and target: ./cluster_0_target.ply for folder cluster_8_source_cluster_0_target\n",
"Folder './cluster_8_source_cluster_0_target' RMSE error: 0.0002\n",
"Folder name res does not match expected pattern. Using global point clouds.\n",
"Folder './res' RMSE error: 32.6656\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_3_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_3_source.ply and target: ./cluster_0_target.ply for folder cluster_3_source_cluster_0_target\n",
"Folder './cluster_3_source_cluster_0_target' RMSE error: 0.0002\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_11_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_11_source.ply and target: ./cluster_1_target.ply for folder cluster_11_source_cluster_1_target\n",
"Folder './cluster_11_source_cluster_1_target' RMSE error: 39.8181\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_6_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_6_source.ply and target: ./cluster_0_target.ply for folder cluster_6_source_cluster_0_target\n",
"Folder './cluster_6_source_cluster_0_target' RMSE error: 0.0002\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_5_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_5_source.ply and target: ./cluster_0_target.ply for folder cluster_5_source_cluster_0_target\n",
"Folder './cluster_5_source_cluster_0_target' RMSE error: 0.0004\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_2_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_2_source.ply and target: ./cluster_0_target.ply for folder cluster_2_source_cluster_0_target\n",
"Folder './cluster_2_source_cluster_0_target' RMSE error: 0.0001\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_7_source.ply\u001b[0;m\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_7_source.ply and target: ./cluster_1_target.ply for folder cluster_7_source_cluster_1_target\n",
"Folder './cluster_7_source_cluster_1_target' RMSE error: 39.1515\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_11_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_11_source.ply and target: ./cluster_0_target.ply for folder cluster_11_source_cluster_0_target\n",
"Folder './cluster_11_source_cluster_0_target' RMSE error: 0.0001\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_1_source.ply and target: ./cluster_0_target.ply for folder cluster_1_source_cluster_0_target\n",
"Folder './cluster_1_source_cluster_0_target' RMSE error: 0.0003\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_4_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_4_source.ply and target: ./cluster_1_target.ply for folder cluster_4_source_cluster_1_target\n",
"Folder './cluster_4_source_cluster_1_target' RMSE error: 46.8525\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_5_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_5_source.ply and target: ./cluster_1_target.ply for folder cluster_5_source_cluster_1_target\n",
"Folder './cluster_5_source_cluster_1_target' RMSE error: 31.7604\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_2_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_2_source.ply and target: ./cluster_1_target.ply for folder cluster_2_source_cluster_1_target\n",
"Folder './cluster_2_source_cluster_1_target' RMSE error: 48.6952\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_7_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_7_source.ply and target: ./cluster_0_target.ply for folder cluster_7_source_cluster_0_target\n",
"Folder './cluster_7_source_cluster_0_target' RMSE error: 0.0003\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_8_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_8_source.ply and target: ./cluster_1_target.ply for folder cluster_8_source_cluster_1_target\n",
"Folder './cluster_8_source_cluster_1_target' RMSE error: 46.7701\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_9_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_1_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_9_source.ply and target: ./cluster_1_target.ply for folder cluster_9_source_cluster_1_target\n",
"Folder './cluster_9_source_cluster_1_target' RMSE error: 46.9942\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_4_source.ply\u001b[0;m\n",
"\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./cluster_0_target.ply\u001b[0;m\n",
"Loaded local source: ./cluster_4_source.ply and target: ./cluster_0_target.ply for folder cluster_4_source_cluster_0_target\n",
"Folder './cluster_4_source_cluster_0_target' RMSE error: 0.0001\n",
"\n",
"Best registration found:\n",
"Folder: ./cluster_11_source_cluster_0_target\n",
"RMSE error: 0.0001\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n",
"RPly: Unexpected end of file\n",
"RPly: Error reading 'view_px' of 'camera' number 0\n"
]
}
],
"source": [
"results_dir = '.'\n",
"target_pcd_file = 'gt_filtered.ply'\n",
"source_pcd_file = 'noisy_filtered_4.ply'\n",
"# Load the point clouds using Open3D.\n",
"target_pcd = o3d.io.read_point_cloud(target_pcd_file)\n",
"source_pcd = o3d.io.read_point_cloud(source_pcd_file)\n",
"\n",
"best_folder, best_error, best_T, _,_ = find_best_registration(results_dir, target_pcd, source_pcd)\n",
"if best_folder is not None:\n",
" print(\"\\nBest registration found:\")\n",
" print(f\"Folder: {best_folder}\")\n",
" print(f\"RMSE error: {best_error:.4f}\")\n",
"else:\n",
" print(\"No valid registration results found.\")"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Visualizing best registration result ...\n"
]
}
],
"source": [
"# Apply the best transformation to a copy of the source point cloud\n",
"best_transformed_source = copy.deepcopy(source_pcd)\n",
"best_transformed_source.transform(best_T)\n",
"\n",
"# Optionally color the point clouds for visualization\n",
"target_pcd.paint_uniform_color([0, 1, 0]) # red for target\n",
"best_transformed_source.paint_uniform_color([1, 0, 0]) # blue for transformed source\n",
"\n",
"# Visualize the best registration result\n",
"print(\"Visualizing best registration result ...\")\n",
"o3d.visualization.draw_geometries(\n",
" [target_pcd, best_transformed_source],\n",
" window_name=\"Best Registration Result\",\n",
" width=800, height=600\n",
")"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"array([[ 1. , 0. , 0. , 1.59822],\n",
" [ 0. , 1. , 0. , -30.9117 ],\n",
" [ 0. , 0. , 1. , -415.328 ],\n",
" [ 0. , 0. , 0. , 1. ]])"
]
},
"execution_count": 4,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"best_T"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [
{
"ename": "NameError",
"evalue": "name 's' is not defined",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[5], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m \u001b[43ms\u001b[49m\n",
"\u001b[0;31mNameError\u001b[0m: name 's' is not defined"
]
}
],
"source": [
"s"
]
}
],
"metadata": {
"kernelspec": {
"display_name": "vision",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.20"
}
},
"nbformat": 4,
"nbformat_minor": 2
}
|