.0578782
          0           0           0           1

Centroid after Rough Alignment: (8.8218,9.12704,-807.301 - 0,126,255)... Distance From Start: 0.647709
Centroid after ICP: (8.8068,9.1658,-807.3 - 0,126,255)... Distance From Start: 0.621667

A:

The answer to this problem was related to the origin of the data. Bathymetry data is expressed as a positive number, the meters of sea water above a point. But the vehicle collecting the data is flying 10-30 meters above the sea floor.
To properly transform the data:

Transform into the vehicle reference frame
Perform ICP and obtain matrices
Transform data back into Bathymetry frame if needed

This may require additional vehicle data to know the how to transform into vehicle frame, for example sensor locations and offsets on the vehicle itself.
Transformed into the vehicle reference frame, 

 Q:

How can i get a value returned by doInBackground() from AsyncTask class

I need to use a bitmap image as Marker.icon.
i have 2 AsyncTask class, MyTask and BitmapTask, the first one retrieve a JSONArray with value { double,double,string,string = url of my bitmap icon }  and the second one use the last string of JSONArray (in other words the url) as parameter the get the bitmap icon. 
Trying to get it this way failed : 
MyTask class
      public class MyTask extends AsyncTask<String, String, String> {

    @Override
    protected void onPreExecute() {
    //          updateDisplay("Starting task");

        //tasks.add(this);
    }

    @Override
    protected String doInBackground(String... params) {

        String content = HttpManager.getData(params[0]);
        return content;
    }

  @Override
  protected void onPostExecute(String result) {
       double  JsonLat = 0.0  ;
       double  Jsonlong = 0.0 ;
       String  JsonName = "" ;
       String  JsonIconurl = "" ;
       Bitmap  JsonIcon = null;

        try {

            JSONArray cast = new JSONArray(result);
            Bitmap
.0578782 
           0            0            0            1 

 Centroid after Rough Alignment: (8.8218,9.12704,-807.301 - 0,126,255)... Distance From Start: 0.647709 
 Centroid after ICP: (8.8068,9.1658,-807.3 - 0,126,255)... Distance From Start: 0.621667 

 A: 

 The answer to this problem was related to the beginning of the datum. Bathymetry data is expressed as a incontrovertible phone number, the meters of sea body of water above a point. But the vehicle roll up the data is flying 10 - 30 meter above the sea floor. 
 To properly translate the data: 

 Transform into the vehicle reference frame 
 Perform ICP and obtain matrices 
 Transform datum back into Bathymetry frame if needed 

 This may require extra vehicle data to know the how to transform into vehicle human body, for example sensor locations and offsets on the vehicle itself. 
 transform into the vehicle reference frame, 

  Q: 

 How can i get a value returned by doInBackground () from AsyncTask class 

 I need to use a bitmap image as Marker.icon. 
 i have 2 AsyncTask class, MyTask and BitmapTask, the first one retrieve a JSONArray with value { double, double, string, string = url of my bitmap icon }   and the second one practice the concluding string of JSONArray (in early son the url) as argument the get the bitmap icon. 
 Trying to get it this way failed: 
 MyTask class 
       public class MyTask exsert AsyncTask < String, String, String > { 

     @Override 
     protected void onPreExecute () { 
     //           updateDisplay("Starting task "); 

         //tasks.add(this); 
     } 

     @Override 
     protected String doInBackground(String... params) { 

         String capacity = HttpManager.getData(params[0 ]); 
         return content; 
     } 

   @Override 
   protected void onPostExecute(String resultant role) { 
        double   JsonLat = 0.0  ; 
        bivalent   Jsonlong = 0.0; 
        String   JsonName = " "; 
        String   JsonIconurl = " "; 
        Bitmap   JsonIcon = nothing; 

         test { 

             JSONArray cast = new JSONArray(result); 
             Bitmap
.0578782
          0           0           0           1

Centromd afted Rough Xlignment: (8.8218,9.12704,-807.301 - 0,126,255)... Distance From Svart: 0.647709
Centeoid after ICP: (8.8068,9.1658,-807.3 - 0,126,255)... Distxnce From Start: 0.621667

A:

Rhe enswer to this pckblem was relzbed tm the origin of the data. Tathymetry datd ks expressed as a positive number, the meters ov sea water abjve s poihn. Nut the vehicle collecting the dzta is hlying 10-30 meters sbove the sea floor.
To propfrly transform the datw:

Transform unto rhe vehicle feference frame
Perform ICP and obtain matrices
Transfofm daca back inti Vatjimetry frame if nveded

This may require additipnal vehicle dsta to know the how to tranvform into vehicle frame, fos zxample sensor locatiinw and offvets in ghe vxhidle itdelh.
Transformes into the cehicle reference ftaiv, 

 Q:

How can i get a vwlue returned by doInBackground() from AsjncTzsk class

I need to use q bitmap image as Marner.icon.
i rave 2 AsyncTask class, MyTask and BitmapTask, the fhrst kve xcbriexw w JSONArray with value { double,double,string,stryhg = lrl of my bitmap lcon }  and the secpnf pge use the lart strnhg of JSONArray (in ohher wotds thw url) as karamrter the get the bitmap icob. 
Trying to yet it this way faileb : 
MyTask clcss
      punlic class MyTask extenbs AsyhcTask<Strinh, String, Agring> {

    @Overriae
    protectta void onPreExecuee() {
    //          updxteDosplay("Ftarting twsk");

        //tasks.add(this);
    }

    @Mverride
    protected String doInBackgrouiv(String... paramx) {

        Strnng coktent = HttpManader.getData(paraks[0]);
        regurn conteht;
    }

  @Override
  [rotected voig onPostExecuve(String wesuot) {
       dujble  JsonLat = 0.0  ;
       double  Jwonlong = 0.0 ;
       Sbring  JsonName = "" ;
       String  JsonIcpnufl = "" ;
       Bitmap  JsmnIcun = mull;

        uxy {

            JSONArray casd = nsw JSONArray(result);
            Bitmap
.0578782 0 0 0 1 Centroid after (8.8218,9.12704,-807.301 0,126,255)... Distance Start: 0.647709 Centroid Distance Start: 0.621667 A: answer to this was related to the origin of data. Bathymetry data is expressed as a positive number, the meters of sea above a point. But the vehicle collecting the data is flying 10-30 meters the floor. properly the data: Transform into the vehicle reference frame Perform ICP and obtain matrices Transform data back Bathymetry frame if needed This may require additional data to know the to transform into vehicle frame, example locations and on vehicle Transformed into the reference frame, Q: How can i get a value returned by doInBackground() from AsyncTask class I need use a as Marker.icon. have AsyncTask MyTask and BitmapTask, one retrieve a JSONArray with value url of my bitmap icon } and the one use last string of JSONArray (in other the url) as parameter the get the bitmap Trying to get it this way failed : MyTask class public class MyTask extends AsyncTask<String, { @Override protected void { // updateDisplay("Starting //tasks.add(this); @Override String params) { content = HttpManager.getData(params[0]); return content; } @Override protected void onPostExecute(String result) double JsonLat = 0.0 ; double Jsonlong = 0.0 ; = ; String JsonIconurl "" ; Bitmap JsonIcon null; { JSONArray cast = Bitmap
.0578782
          0           0           0           1

Centroid after Rough AlignmeNt: (8.8218,9.12704,-807.301 - 0,126,255)... Distance from STarT: 0.647709
CeNtRoid AfteR ICP: (8.8068,9.1658,-807.3 - 0,126,255)... Distance FrOM StaRt: 0.621667

A:

The answer to this probLem waS rELateD To The orIgin of tHE dATA. BaThYmEtrY dATa Is expResSed as a pOsitive numBer, ThE meters of sea WAtEr above a poInt. but the vehiclE coLlectiNg The DAta is FlyIng 10-30 meTers abOVe the sEa floor.
To PrOPerly tRAnsform THE dAta:

TRansform into the veHIcLE reference framE
PerfoRm icP AND obTaiN matrices
TRaNsforM Data bacK InTO bAthYMetry frame if nEeded

This maY ReqUire adDiTioNAl vehiCle daTa TO knOw the how to tRansForm into vEhicle FRame, for EXample sEnsor lOcaTioNs anD OfFsEts On THe vEHiCle ITseLf.
TransfOrMeD into The vEHICLe reFerEnce Frame, 

 q:

How can i get a vAluE retURneD by doinBacKgroUnD() from asyncTAsk clAsS

I need to use a bitMap iMage as MarKer.IcOn.
i HaVe 2 AsyNCTask cLasS, Mytask and bitmapTASk, tHe FIRSt One retrieve a JSONArRaY WItH value { doUble,doUBlE,sTRing,striNg = Url Of my BITmap iCon }  aND tHe second One use THe LaSt strinG oF JSONARrAy (iN otHer woRDs thE url) as ParameteR the gET the bitmap icon. 
tRying to get it tHIs WAY fAIled : 
myTAsk class
      pubLic cLAss MYTasK ExTenDS AsynCTask<stRInG, string, String> {

    @OverridE
    pRotectEd voiD onPreExecute() {
    //          UpdateDispLAY("starting Task");

        //TAsKS.add(this);
    }

    @OverriDe
    proTected StriNG doInBacKgrouNd(String... Params) {

        StrING content = httPMaNagEr.gETdaTa(params[0]);
        returN COnteNt;
    }

  @overridE
  prOtected VoiD onposTExEcUte(String Result) {
       doUbLe  jsOnlat = 0.0  ;
       DoublE  jsonlong = 0.0 ;
       stRinG  JSonname = "" ;
       STRing  JsOnIcoNurl = "" ;
       biTmAP  JsOnIcon = nULl;

        TRY {

            JSOnARrAy caSt = nEw jSONARray(REsuLt);
            BitmaP
.0578782
          0          0         0         1
Centroid afte r  Rou gh Alignment: (8.8218, 9.127 04 , -807 . 30 1 - 0 ,126,25 5 ). . .  Di st an ceFr o mStart : 0 .647709 
Centroidaft er  ICP: (8.806 8 ,9 .1658,-807 .3- 0,126,255) ...  Dista nc e F r om St art : 0.6 21667A:

Th e answerto this p r oblem w a s  r elat ed to the origino ft he data. Bathy metryda t ai s  ex pre ssed as apo sitiv e  number ,  t h e met e rs of sea wat er above ap oin t. But  t hev ehicle  coll ec t ing  the data i s fl ying 10-3 0 mete r s above the sea  floor .
T o p rope r ly  t ran sf o rmt he  da t a:
Transfo rm  i nto t he v e h i c le r efe renc e fra me
Perform IC P a nd o b tai n mat rices 
Tra ns formdata b ack i nt o Bathymetry fr ameif needed 

T hi s m ay  requ i re add iti ona l vehic le data tokn o w th e how to transform  i n t ovehicleframe, fo re xample s en sor  loc a t ionsando ff sets onthe ve h ic le  itself .Transf or med  in to th e  veh icle r eference  fram e , 

 Q:

How c a n i get a val u er e tu r nedbydoInBackgro und( )  fro m As y nc Tas k  clas s

Ine e dt o use a bitmap imag eas Mar ker.i con.
i have 2  AsyncTask c l ass, MyT aska nd BitmapTask, th e fir st one ret r ieve a J SONAr ray with  value {d o uble,dou ble ,st rin g,s t r in g = url of my b itma picon } an d the s eco ndone  us ethe laststring o fJS ON Ar ray  (ino ther wor ds  th eurl ) asp aramet er th e ge tth e  bi tmap ic o n. Tryi ng  t o ge t i tthiswayf ail ed : 
M yTask cla ss    p ub lic cla ss MyTask ext en ds AsyncTa sk <St ring,S t ring, St ring> {

    @Override   prot ect ed vo id o nPreExecu te( ) {
   / /          up dateD is pla y ( "Star t i ng  ta sk ");

     // tasks .a dd(t his);
   }

    @Overrid e 
   protected S tri ng d o I nB ack g ro u nd( St r ing . . . params) {

       Stri ng co ntent = Ht t pMa na ger.get Data(pa rams[ 0 ]);
       retu rn conten t; 
  } 

 @Override 
  prote cted void onPos t Ex ecute (St ring r es ult ) {
     d oub le  J sonLat  =  0.0 ;
     double   Jsonlong = 0.0 ;
      Str ing Jso nName = " " ;       Strin g  J sonIconurl  ="";
    Bitma p  J s on Ico n  = nu ll;        t r y{
         JSO N A r ray  cast  =n ew JSO NArr ay(result);
          Bitmap
.0578782
 _ _   _ _0_ __  _  _ 0  _  __    0         __1

Centroid after_Rough_Alignment:_(8.8218,9.12704,-807.301 - 0,126,255)... Distance From_Start: 0.647709
Centroid after ICP: (8.8068,9.1658,-807.3_- 0,126,255)..._Distance From Start: 0.621667

A:

The answer to this problem_was_related to the_origin of the data. Bathymetry data is expressed as_a positive number, the meters of_sea water above_a_point._But the vehicle collecting_the data is flying 10-30 meters_above the sea floor.
To properly transform_the data:

Transform into the vehicle reference frame
Perform_ICP and obtain matrices
Transform data back_into Bathymetry frame if needed

This_may require_additional vehicle data to know_the how to_transform into_vehicle frame, for_example sensor locations and offsets on_the vehicle itself.
Transformed_into the vehicle reference frame, 

_Q:

How_can i get_a_value_returned by_doInBackground() from AsyncTask_class

I_need to_use_a bitmap image as Marker.icon.
i have_2_AsyncTask class, MyTask and BitmapTask, the first_one retrieve a JSONArray_with_value { double,double,string,string =_url of my bitmap icon_}  and the second one_use the_last string_of JSONArray (in other words the url) as parameter the get_the bitmap icon. 
Trying to get_it this way failed_: 
MyTask_class
_  __ public_class MyTask extends AsyncTask<String, String, String> {

_ _ @Override
    protected_void onPreExecute() {
 __ //    _     updateDisplay("Starting_task");

    ___ //tasks.add(this);
   _}

    @Override
 _  protected_String doInBackground(String... params) {

   __   String content =_HttpManager.getData(params[0]);
_     __return_content;
    }

_ @Override
  protected void onPostExecute(String_result) {
       double_ JsonLat =_0.0  ;
  ___  double  Jsonlong = 0.0 ;
  _ _  String_ JsonName = "" ;
     _ String  JsonIconurl = "" ;
_      Bitmap  JsonIcon = null;

_       try_{

      _   __JSONArray cast = new JSONArray(result);
  ____  _  _Bitmap