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ppf_icp.py: Python 3 support

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Adam Gradzki
2017-11-21 10:19:29 -06:00
parent f94610a09f
commit a6a347e53e
1 changed files with 3 additions and 3 deletions
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6
modules/surface_matching/samples/ppf_icp.py
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@@ -20,8 +20,8 @@ noise = np.random.normal(0.0, 0.1, height * width * 3).reshape((-1, 3))
noise2 = np.random.normal(0.0, 1.0, height * width) noise2 = np.random.normal(0.0, 1.0, height * width)
x, y = np.meshgrid( x, y = np.meshgrid(
range(-width/2, width/2), range(-width//2, width//2),
range(-height/2, height/2), range(-height//2, height//2),
sparse=False, indexing='xy' sparse=False, indexing='xy'
) )
z = np.zeros((height, width)) z = np.zeros((height, width))
@@ -42,7 +42,7 @@ Rt = np.vstack((
np.array([0, 0, 0, 1]) np.array([0, 0, 0, 1])
)).astype(np.float32) )).astype(np.float32)
icp = cv2.ppf_match_3d.ICP(100) icp = cv2.ppf_match_3d_ICP(100)
I = np.eye(4) I = np.eye(4)
print("Unaligned error:\t%.6f" % np.linalg.norm(I - Rt)) print("Unaligned error:\t%.6f" % np.linalg.norm(I - Rt))