30 November:
Finally, after dealing with Eigen C++ library , I managed to translate to C++ the python code based on SVD that calculates the rotation and traslation matrix for the Register Module
29 November:
Uploaded to github Register module in C++. Still working on it. Change visual interface. Background set to white to distinguish much better every point
23 November:
Getting familiar with Eigen C++ library
From 18 November to 22 November:
Testing method Horn to align two trajectories
Original Evaluate_ate.py could be downloaded from
Also reading Method Horn paper: https://ylatif.github.io/movingsensors/cameraReady/paper07.pdf
Created 2 more videos, on color white is presented ground truth trajectory , on blue is presented the artificial trajectory with gaussian noise, and finally on green is presented the align of second trajectory with the groundtruth trajectory.
From 5 November to 17 November
Reading documentation about how to fit or calculate rotation matrix and traslation using two datasets, the original and the transformed dataset.
Found a method using SVD.
Testing and modifying code found at http://nghiaho.com/uploads/code/rigid_transform_3D.py_
Generate video with three trajectorys, the one in white color shows the original dataset or ground truth, the second in blue , shows the artificial dataset after being rotated , traslated and applied a gaussian noise, and the last one in green shows the ground thruth transformed by the estimated rotation matrix and estimated traslation vector. The centroids are represented by a tiny red dot.
4 November 2017
Added Gaussian Noise into C++ program. Using Box-Muller transformation https://en.wikipedia.org/wiki/Box%E2%80%93Muller_transform
New video, showing a curve with Gaussian noise
01 November 2017
New video , transforming trajectory with rotations and tralations
