WebSVN – seema-scanner – Diff – /matlab/alignSubScansMarkers.m

 % show found markers in initial alignment
 figure;
 hold('on');
 for i=1:nSubScans
-    % fix Ri to be orthogonal
-    [U,~,V] = svd(initialAlign(i).Rotation);
-    Ri = U*V';
-    initialAlign(i).Rotation = Ri;
     % bring point cloud into initial alignment
     pcFileName = fullfile(alnFilePath, initialAlign(i).FileName);
     pc = pcread(pcFileName);
-    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
+%     tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
-    pcg = pctransform(pc, tform);
+%     pcg = pctransform(pc, tform);
+    pcg = pointCloud(pc.Location * initialAlign(i).Rotation' + initialAlign(i).Translation', 'Color', pc.Color);
     pcshow(pcg);
     xlabel('x');
     ylabel('y');
     zlabel('z');
     Ea = E{i}*Ri' + repmat(Ti', size(E{i}, 1), 1);
     % bring point cloud into optimized alignment
     pcFileName = fullfile(alnFilePath, initialAlign(i).FileName);
     pc = pcread(pcFileName);
-    tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
+%     tform = affine3d([Ri' [0;0;0]; initialAlign(i).Translation' 1]);
-    pcg = pctransform(pc, tform);
+%     pcg = pctransform(pc, tform);
+    pcg = pointCloud(pc.Location * alignment(i).Rotation' + alignment(i).Translation', 'Color', pc.Color);
     pcshow(pcg);
     xlabel('x');
     ylabel('y');
     zlabel('z');

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