Question about the calculation process of gt.info in getGtInfoLog.m

[Gilgamesh666666]

Hi, Andy Zeng:

In the calculation process of info matrix given by here, the q_star is the ground truth correspondence point in original Q, while i find that the Q is transformed Q in you code here. So, I am confused about that. I will appreciate if you can give me some hints.

3dmatch-toolbox/evaluation/geometric-registration/getGtInfoLog.m

Lines 50 to 67 in f6496fd

	relExt = inv(fragment1ExtCam2World) * fragment2ExtCam2World;
	fragment2Points = fragment2PointCloud.Location';
	fragment2Points = relExt(1:3,1:3) * fragment2Points + repmat(relExt(1:3,4),1,size(fragment2Points,2));
	% pcwrite(pointCloud(fragment2Points','Color',repmat(uint8([255,0,0]),size(fragment2Points,2),1)),'debug1','PLYformat','binary');
	% Find overlapping surfaces
	voxelGridSize = 0.006;
	[nnIdx,nnSqrDist] = multiQueryKNNSearchImpl(fragment1PointCloud,fragment2Points',1);
	nnDist = sqrt(nnSqrDist);
	% Check if overlapping surface is over 30% of first fragment
	alignedRatio = sum(nnDist < voxelGridSize*5)/size(fragment1PointCloud.Location,1);
	if alignedRatio < 0.3
	continue;
	end
	% Compute 5000 ground truth correspondences q* on the overlapping regions
	corresQ = fragment2Points(:,find(nnDist < voxelGridSize))';