icp变换矩阵解释 [英] icp transformation matrix interpretation

问题描述

我正在使用PCL从ICP(getTransformationMatrix())获得转换矩阵. 以没有旋转的平移运动为例得到的结果是

I'm using PCL to obtain the transformation matrix from ICP (getTransformationMatrix()). The result obtained for exemple for a translation movement without rotation is

0.999998         0.000361048   0.00223594     -0.00763852
-0.000360518     1             -0.000299474   -0.000319525
-0.00223602      0.000298626   0.999998       -0.00305045
       0         0             0              1

如何从矩阵中找到变换? 想法是看到刺激和真实运动之间的错误

how can I find the trasformation from the matrix? The idea is to see the error made between the stimation and the real movement

推荐答案

tROTA是具有平移和旋转的矩阵:

tROTA is the matrix with translation and rotation:

auto trafo = icp.getFinalTransformation();

Eigen::Transform<float, 3, Eigen::Affine> tROTA(trafo);

float x, y, z, roll, pitch, yaw;

pcl::getTranslationAndEulerAngles(tROTA, x, y, z, roll, pitch, yaw);

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