function?[R?t?TriKSI?minPhi]?=?FastTrICP（R?t?MoveStep）
global?Model?Data?TrMin?TrMax?
TrMin=?0.35;
TrMax=?1.0;
phiPre=?0;
minPhi=?100;
CurrStep?=?0;
TData?=?transform_to_global（Data?R?t）;
KDtree=?createns（Model‘）;
while?（（CurrStep?10^（-4）））
????[corrTD]?=?knnsearch（KDtreeTData‘）;
????SortTD2?=?sortrows（TD.^2）;?%?Sort?the?correspongding?points
????minTDIndex?=?floor（TrMin*length（TD））;?%?Get?minimum?index?of?TD
????maxTDIndex?=?ceil（TrMax*length（TD））;?%?Get?maxmum?index?of?TD
????TDIndex?=?[minTDIndex?:?maxTDIndex]‘;
????mTr?=?TDIndex./length（TD）;
????mCumTD2?=?cumsum（SortTD2）;?%?Get?accumulative?sum?of?sorted?TD.^2
????mMSE?=?mCumTD2（minTDIndex?:?maxTDIndex）./TDIndex;?%?Compute?all?MSE
????mPhi?=?objectiveFunction（mMSE?mTr）;??
????phiPre=?minPhi;
????[minPhi?nIndex]?=?min（mPhi）;????
????TriKSI?=?mTr（nIndex）;?%?Update?Tr?for?next?step????
????corr（:2）?=?[1?:?length（corr）]‘;??
????%?Sort?the?corresponding?points
????corrTD?=?[corr?TD];
????SortCorrTD?=?sortrows（corrTD?3）;
????[R?t?TCorr?TData]?=?CalRtPhi（TData?SortCorrTD?TriKSI）;???
????%?return?the?MSE?and?the?minimized?function?value
????CurrStep=?CurrStep+1;???
end


%%%%%%%%%%%%%%%%%%%%Integrated?Function%%%%%%%%%%%%%%%%%%%%
%%?Calculate?RtPhi?based?on?current?overlap?parameter
function?[R?tTCorrTData]?=?CalRtPhi（TDataSortCorrTDTr）
global?Model?Data
TrLength?=?floor（Tr*size（SortCorrTD1））;?%?The?number?of?corresponding?points?after?trimming
TCorr?=?SortCorrTD（1:TrLength?1:2）;?????%?Trim?the?corresponding?points?according?to?overlap?parameter?Tr
%?Register?MData?with?TData
[R?t]?=?reg（TCorr）;
%?To?obtain?the?transformation?data
TData?=?transform_to_global（Data?R?t）;

%%%%%%%%%%%%%%%?Calculate?the?registration?matrix?%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%?T（TData）->MData?%%%%%%%%%%%%%%%%%%%%%%%%%
%?SVD?solution
function?[R1?t1]?=?reg（corr）
global?Model?Data
n?=?length（corr）;?
M?=?Model（:corr（:1））;?
mm?=?mean（M2）;
S?=?Data（:corr（:2））;
ms?=?mean（S2）;?
Sshifted?=?[S（1:）-ms（1）;?S（2:）-ms（2）;?S（3:）-ms（3）];
Mshifted?=?[M（1:）-mm（1）;?M（2:）-mm（2）;?M（3:）-mm（3）];
K?=?Sshifted*Mshifted‘;
K?=?K/n;
[U?A?V]?=?svd（K）;
R1?=?V*U‘;
if?det（R1）<0
????B?=?eye（3）;
????B（33）?=?det（V*U‘）;
????R1?=?V*B*U‘;
end
t1?=?mm?-?R1*ms;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2330??2016-05-25?21:02??FastTrICP.m

?????文件????????487??2016-05-25?21:09??main.m

?????文件?????????99??2016-05-25?21:14??objectiveFunction.m

?????文件????????544??2016-05-25?20:58??OulerToRota.m

?????文件????????171??2016-05-25?21:00??transform_to_global.m

?????文件????4378672??2016-05-25?21:08??bunny.mat

?????文件????4378672??2016-05-25?21:08??TrICPDemo（3D）\bunny.mat

?????文件????9300887??2016-06-04?22:12??TrICPDemo（3D）\bunnyR0.mat

?????文件????????871??2016-06-05?20:23??TrICPDemo（3D）\CtICP.m

?????文件???????2362??2016-06-04?22:05??TrICPDemo（3D）\FastTrICP.m

?????文件????????562??2016-06-05?16:22??TrICPDemo（3D）\main.m

?????文件?????????99??2016-05-25?21:14??TrICPDemo（3D）\objectiveFunction.m

?????文件????????544??2016-05-25?20:58??TrICPDemo（3D）\OulerToRota.m

?????文件????????171??2016-05-25?21:00??TrICPDemo（3D）\transform_to_global.m

?????目錄??????????0??2016-06-05?20:29??TrICPDemo（3D）

-----------?---------??----------?-----??----

?????????????18066471????????????????????15