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<p class="MsoNormal">I am trying to use the IterativeClosestPoint2 example on the fixed and moving point sets in attachment (called “src” and “dest” point sets).<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The ground truth is “properly ordered dest = Transform(src)”, where:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Euler angles: (0.349065850398866, 0.349065850398866, 0.349065850398866)<o:p></o:p></p>
<p class="MsoNormal">Translations: (4.1335200571234, 5.90820985238168, 7.04748773837622)<span style="mso-fareast-language:EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">(the dest_point set in attachment is randomly reshuffled)<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">>>> If I use srx = fixed, dest = moving, the registration results is:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Euler angles: (-0.327201, -0.36953, <u>-0.47291</u>)<o:p></o:p></p>
<p class="MsoNormal">Translations: <u>(-6.28471, -2.64212, -1.50835</u>)<span style="mso-fareast-language:EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">>>> If I use dest = fixed, src = moving, the registration results is:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Euler angles: (<u>0.44595, 0.20655</u>, 0.36423)<o:p></o:p></p>
<p class="MsoNormal">Translations: <u>(</u>6.28471, 2.64212, 1.50835)<span style="mso-fareast-language:EN-GB"><o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Question 1): <o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Given that “properly ordered dest = Transform(src)”, according to the guide src should be the fixed point set. Am I wrong?<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Question 2):<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I am not happy with the results, given that there is no additional noise (the underlined values refer to error angles of up to
<u>8 degrees</u> and <u>3 mm</u> errors). I am surprised because there is no additional noise to the data, so I would expect an accurate registration. Are my results normal? How could I improve the results? Should I change the optimizer, or the transform?<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Please help, thank you.<o:p></o:p></p>
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