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matlabicp源码-Point-Cloud-Registration-Algorithm:点云配准算法
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2021-06-03
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matlab icp源码项目目标: 开发用于将部分点云与 3D CAD 模型配准的管道 运行代码时涉及的步骤: 在你希望运行代码的目录中创建一个 BUILD 文件夹,CMkeLists.txt 和 CODE.cpp 传递给代码的参数应该放在构建中 代码接受 3 个参数参数 1 = Kinect 点云参数 2 = CAD 文件参数 3 = ICP 的迭代次数 CAD 文件的预处理: .stl 格式的 CAD 模型以毫米为单位转换为 .pcd 和米。 (将 cad 缩小 0.001) 获得可接受输出的重要约束条件: Kinect 位置不应该改变,因为 Kinect 相对于机器人底座的转换是在代码中硬编码的。 湾要注册的对象放置在一定高度。 在迄今为止获得的结果中,该物体被抬高到了 6-7 厘米以上。 (白色小立方体)在代码中,我们砍掉了 示例 CMakelists、用于获取 Kinect 相对于 Base 的转换的 Matlab 代码以及用于获取从 Kinect 到机器人 Base 的转换的 Matalb 代码都存在于 zip 文件中。 代码将使用“cmake ..”和“make”进行编译
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