Geek Answers Handbook

Project Tango: Transform Between Coordinate Systems and Point Merge Clouds

I am trying to convert point clouds sampled and stored in XYZij data (which, according to them, store data in camera space) into a global coordinate system so that they can be combined. The frame parade that I use for the Tango listener has COORDINATE_FRAME_START_OF_SERVICEboth a base frame and COORDINATE_FRAME_DEVICEa target frame.

So I implement the conversion:

  • Remove the quaternion of rotation from TangoPoseData.getRotationAsFloats()as q_rand the position of the point from XYZijas p.

  • Apply the following rotation, where q_multis the helper method calculating the Hamilton product of two quaternions (I tested this method against another math library):

    p_transformed = q_mult(q_mult(q_r, p), q_r_conjugated);

  • Add the translation received from TangoPoseData.getTranslationAsFloats()to p_transformed.

But in the end, the points in p_transformedalways end up in a mess of partially overlapped point clouds instead of an aligned, united point cloud.

Am I missing something? Is there a conceptual error in the transformation?

Thanks in advance.

+2
source share
4 answers

Ken and Vincenzo, thanks for the answer.

- , ICP CloudCompare , . ~ 30 . , . CloudCompare .

, , , , ( ), , , , OpenGL, , . .

, . , , Tango .

, , .

enter image description here

+2

"" . , .. X j k, , .. X y z w. Tango API TangoPoseData:: x y z w. x j k. , , .

+1

? , , XYZij? "timestamp" XYZij.

, . XYZij.

Look at the blue wall

The real wall

+1

roomplan.de , pcl . pointclouds (ServiceOf Service Frame). : https://github.com/roomplan/tango-examples-java/tree/master/PointCloudJava_with_PCL funtion jni/jni_part.cpp: Java_com_tangoproject_experiments_javapointcloud_PointCloudActivity_saveRotatedPointCloud

, , pcl . , , -.

Examples of pictures can be viewed in the demo application in the game store. (Cant them still here) https://play.google.com/store/apps/details?id=com.tangoproject.experiments.javapointcloud&hl=en

0
source

More articles:


All Articles