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  • 大小: 34KB
    文件類型: .zip
    金幣: 2
    下載: 0 次
    發(fā)布日期: 2021-05-16
  • 語言: Matlab
  • 標(biāo)簽: libicp??matlab+Cpp??

資源簡介

PLicp 算法,maltab和C都有

資源截圖

代碼片段和文件信息

%?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?

%?libicp?demo?file?for?MATLAB

dbstop?error;?clear?variables;?close?all;
disp(‘================================‘);

%?create?model
M(1:)?=?0:pi/20:3*pi;
M(2:)?=?sin(M(1:));

%?transform?model?yielding?the?template
rx?=?0.5;
Tr?=?[cos(rx)?-sin(rx)?-1;sin(rx)?cos(rx)?-2;0?0?1];
T??=?Tr(1:21:2)*M?+?Tr(1:23)*ones(1size(M2));

%?fit?template?to?model
%?-?init?with?identity?transformation?(eye(3))
%?-?no?outlier?rejection?step?(-1)
%?-?use?point-to-plane?fitting
Tr_fit?=?icpMex(MTeye(3)-1‘point_to_plane‘);
T_fit??=?Tr_fit(1:21:2)*T?+?Tr_fit(1:23)*ones(1size(T2));

%?plot
figureaxis?equalhold?on;?ms=8;?lw=2;?fs=16;
plot(M(1:)M(2:)‘or‘‘MarkerSize‘ms‘LineWidth‘lw);
plot(T(1:)T(2:)‘sg‘‘MarkerSize‘ms‘LineWidth‘lw);
plot(T_fit(1:)T_fit(2:)‘xb‘‘MarkerSize‘ms‘LineWidth‘lw);
legend(‘model‘‘template‘‘fitted?template‘‘Location‘‘NorthWest‘);
set(gca‘FontSize‘fs);

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件?????????918??2015-05-18?22:08??CMakeLists.txt
?????文件????????4211??2013-09-09?10:37??README.TXT
?????文件????????1759??2013-09-09?10:37??matlab\demo_2d.m
?????文件????????1859??2013-09-09?10:37??matlab\demo_3d.m
?????文件????????1131??2014-07-11?11:45??matlab\make.m
?????文件????????2284??2013-09-09?10:37??src\demo.cpp
?????文件????????2594??2014-07-18?17:52??src\icp.cpp
?????文件???????12153??2016-02-16?17:57??src\icpPointToPlane.cpp
?????文件????????7582??2015-05-18?17:11??src\icpPointToPoint.cpp
?????文件???????20303??2015-05-18?17:15??src\kdtree.cpp
?????文件???????23182??2015-05-18?17:19??src\matrix.cpp
?????文件????????2783??2014-07-18?17:51??src\icp.h
?????文件????????1763??2015-05-18?17:22??src\icpPointToPlane.h
?????文件????????1320??2013-09-09?10:37??src\icpPointToPoint.h
?????文件????????5785??2013-09-09?10:37??src\kdtree.h
?????文件????????5116??2015-04-04?23:01??src\matrix.h
?????文件????????3524??2013-09-09?10:37??matlab\icpMex.cpp
?????文件????????3636??2015-03-10?09:41??matlab\sparsifyMex.cpp

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