From 963ec11858c241b2cd07d079cdd4b73b97af3043 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Tue, 26 Feb 2019 20:31:02 +0900 Subject: [PATCH] fix name typo and update code --- SLAM/iterative_closest_point/iterative_closest_point.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/SLAM/iterative_closest_point/iterative_closest_point.py b/SLAM/iterative_closest_point/iterative_closest_point.py index da8ffeac..73651d8e 100644 --- a/SLAM/iterative_closest_point/iterative_closest_point.py +++ b/SLAM/iterative_closest_point/iterative_closest_point.py @@ -24,7 +24,7 @@ def ICP_matching(ppoints, cpoints): R: Rotation matrix T: Translation vector """ - H = None # homogeneraous transformation matrix + H = None # homogeneous transformation matrix dError = 1000.0 preError = 1000.0 @@ -47,7 +47,7 @@ def ICP_matching(ppoints, cpoints): # update current points cpoints = (Rt @ cpoints) + Tt[:, np.newaxis] - H = update_homogenerous_matrix(H, Rt, Tt) + H = update_homogeneous_matrix(H, Rt, Tt) dError = abs(preError - error) preError = error @@ -66,7 +66,7 @@ def ICP_matching(ppoints, cpoints): return R, T -def update_homogenerous_matrix(Hin, R, T): +def update_homogeneous_matrix(Hin, R, T): H = np.zeros((3, 3)) @@ -82,7 +82,7 @@ def update_homogenerous_matrix(Hin, R, T): if Hin is None: return H else: - return Hin * H + return Hin @ H def nearest_neighbor_assosiation(ppoints, cpoints):