/*
Copyright?2011.?All?rights?reserved.
Institute?of?Measurement?and?Control?Systems
Karlsruhe?Institute?of?Technology?Germany

This?file?is?part?of?libicp.
Authors:?Andreas?Geiger

libicp?is?free?software;?you?can?redistribute?it?and/or?modify?it?under?the
terms?of?the?GNU?General?Public?License?as?published?by?the?Free?Software
Foundation;?either?version?3?of?the?License?or?any?later?version.

libicp?is?distributed?in?the?hope?that?it?will?be?useful?but?WITHOUT?ANY
WARRANTY;?without?even?the?implied?warranty?of?MERCHANTABILITY?or?FITNESS?FOR?A
PARTICULAR?PURPOSE.?See?the?GNU?General?Public?License?for?more?details.

You?should?have?received?a?copy?of?the?GNU?General?Public?License?along?with
libicp;?if?not?write?to?the?Free?Software?Foundation?Inc.?51?Franklin
Street?Fifth?Floor?Boston?MA?02110-1301?USA?
*/

//?Demo?program?showing?how?libicp?can?be?used

#include?
#include?“icpPointToPoint.h“
#include?“icpPointToPlane.h“
#include?“l(fā)asreader.h“
#include?“l(fā)aswriter.h“
#include?“l(fā)asdefinitions.h“

using?namespace?std;

int?main?（int?argc?char**?argv）?{

??//?define?a?3?dim?problem?with?10000?model?points
??//?and?10000?template?points:
??int32_t?dim?=?3;
??
??int32_t?num=10000;
???double*?M?=?new?double[3*num];
??double*?T?=??new?double[3*num];
??
??//?set?model?and?template?points
??cout?<??cout?<??int32_t?k=0;
??for?（double?x=-2;?x<2;?x+=0.04）?{
????for?（double?y=-2;?y<2;?y+=0.04）?{
??????double?z=5*x*exp（-x*x-y*y）;
??????M[k*3+0]?=?x;
??????M[k*3+1]?=?y;
??????M[k*3+2]?=?z;
??????T[k*3+0]?=?x-1;
??????T[k*3+1]?=?y-1;
??????T[k*3+2]?=?z-1;
??????k++;
????}
??}
??
??//?start?with?identity?as?initial?transformation
??//?in?practice?you?might?want?to?use?some?kind?of?prediction?here
??Matrix?R?=?Matrix::eye（3）;
??Matrix?t（31）;
??//double?m=0.01;

??//?run?point-to-plane?ICP?（-1?=?no?outlier?threshold）
??cout?<??IcpPointToPlane?icp（Mnumdim）;
??icp.fit（TnumRt-1）;

??//?results
??cout?<??cout?<??cout?<
??//?free?memory
??free（M）;
?free（T）;
??//delete?[]M;
???//delete?[]T;

??//?success
??return?0;
}

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

?????文件?????325120??2014-03-30?18:29??ICPdemo_test\Debug\ICPdemo_test.exe

?????文件????1862524??2014-03-30?18:29??ICPdemo_test\Debug\ICPdemo_test.ilk

?????文件????2903040??2014-03-30?18:29??ICPdemo_test\Debug\ICPdemo_test.pdb

?????文件??????11034??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\cl.command.1.tlog

?????文件?????535634??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\CL.read.1.tlog

?????文件???????8602??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\CL.write.1.tlog

?????文件????????406??2014-03-17?11:07??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.exe.embed.manifest

?????文件????????472??2014-03-30?18:26??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.exe.embed.manifest.res

?????文件????????381??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.exe.intermediate.manifest

?????文件?????????84??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.lastbuildstate

?????文件???????2003??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.log

?????文件??????????0??2014-03-31?19:30??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test.unsuccessfulbuild

?????文件????????214??2014-03-17?11:07??ICPdemo_test\ICPdemo_test\Debug\ICPdemo_test_manifest.rc

?????文件??????79369??2014-03-31?19:28??ICPdemo_test\ICPdemo_test\Debug\lasreader.obj

?????文件??????77775??2014-03-31?19:28??ICPdemo_test\ICPdemo_test\Debug\laswriter.obj

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.2472-cvtres.read.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.2472-cvtres.write.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.2472.read.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.2472.write.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.3236-cvtres.read.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.3236-cvtres.write.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.3236.read.1.tlog

?????文件??????????2??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.3236.write.1.tlog

?????文件???????5590??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.command.1.tlog

?????文件???????9966??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.read.1.tlog

?????文件???????3558??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\link.write.1.tlog

?????文件?????169566??2014-03-31?19:28??ICPdemo_test\ICPdemo_test\Debug\matrix.obj

?????文件????????850??2014-03-30?18:29??ICPdemo_test\ICPdemo_test\Debug\mt.command.1.tlog

............此處省略56個(gè)文件信息