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geom2d: add registerICP, for registration by Iterative Closest Point …
…algorithm.
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dlegland
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Apr 15, 2016
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function [trans, points] = registerICP(points, target, varargin) | ||
%REGISTERICP Fit affine transform by Iterative Closest Point algorithm | ||
% | ||
% TRANS = registerICP(POINTS, TARGET) | ||
% Computes the affine transform that maps the shape defines by POINTS | ||
% onto the shape defined by the points TARGET. Both POINTS and TARGET are | ||
% N-by-2 array of point coordinates, not necessarily the same size. | ||
% The result TRANS is a 3-by-3 affine transform. | ||
% | ||
% TRANS = registerICP(POINTS, TARGET, NITER) | ||
% Specifies the number of iterations for the algorithm. | ||
% | ||
% [TRANS, POINTS2] = registerICP(...) | ||
% Also returns the set of transformed points. | ||
% | ||
% Example | ||
% registerICP | ||
% | ||
% See also | ||
% tansforms2d, fitAffineTransform2d | ||
% | ||
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% ------ | ||
% Author: David Legland | ||
% e-mail: [email protected] | ||
% Created: 2015-02-24, using Matlab 8.4.0.150421 (R2014b) | ||
% Copyright 2015 INRA - Cepia Software Platform. | ||
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nIter = 10; | ||
if ~isempty(varargin) | ||
nIter = varargin{1}; | ||
end | ||
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% keep original points to transform them at each | ||
trans = [1 0 0;0 1 0;0 0 1]; | ||
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for i = 1:nIter | ||
% identify target points for each source point | ||
inds = findClosestPoint(points, target); | ||
corrPoints = target(inds, :); | ||
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% compute transform for current iteration | ||
trans_i = fitAffineTransform2d(points, corrPoints); | ||
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% apply transform, and update cumulated transform | ||
points = transformPoint(points, trans_i); | ||
trans = trans_i * trans; | ||
end |