Align Two Point Clouds
Load point cloud data.
ptCloud = pcread('teapot.ply'); figure pcshow(ptCloud); title('Teapot');
Create a transform object with 30 degree rotation along z -axis and translation [5,5,10].
A = [cos(pi/6) sin(pi/6) 0 0; ... -sin(pi/6) cos(pi/6) 0 0; ... 0 0 1 0; ... 5 5 10 1]; tform1 = affine3d(A);
Transform the point cloud.
ptCloudTformed = pctransform(ptCloud,tform1);
figure
pcshow(ptCloudTformed);
title('Transformed Teapot');
Apply the rigid registration.
tform = pcregrigid(ptCloudTformed,ptCloud,'Extrapolate',true);
Compare the result with the true transformation.
disp(tform1.T); tform2 = invert(tform); disp(tform2.T);
0.8660 0.5000 0 0
-0.5000 0.8660 0 0
0 0 1.0000 0
5.0000 5.0000 10.0000 1.0000
0.8660 0.5000 0.0000 0
-0.5000 0.8660 0.0000 0
0.0000 -0.0000 1.0000 0
5.0000 5.0000 10.0000 1.0000
