SIMULTANEOUS ALIGNMENT OF THREE ALS POINT CLOUDS

In this example three point clouds acquired with an Airborne Laserscanner (ALS) are aligned simultaneosly by the ICP algorithm (strip adjustment). For this the globalICP class is used.

Contents

Note: You can extract the code from this html file with the matlab function grabcode

Where to get help

Before starting, a short hint on how to access the helpscreen of the methods (=functions) used within this tutorial:

% Help for the constuctor method (for object creation)
help globalICP.globalICP % Constructor method for globalICP class.

% Help for regular methods
help globalICP.addPC     % Add a point cloud to globalICP object.
help globalICP.plot      % Plot all added point clouds.
help globalICP.runICP    % Run ICP algorithm.

Import point clouds and run ICP algorithm

% Contruct an object of class globalICP (=initialization)
icp = globalICP;

% Add point clouds to object from plain text files
% (Added point clouds are saved as mat files, e.g. G111.mat)
icp.addPC('G111.xyz');
icp.addPC('G112.xyz');
icp.addPC('G113.xyz');

% Define options for runICP
% (A template for all options can be copied by calling 'help globalICP.runICP')
ICPOptions.UniformSamplingDistance  = 5;
ICPOptions.PlaneSearchRadius        = 2;
ICPOptions.Plot                     = true;

% Run ICP!
icp.runICP(ICPOptions);

Published with MATLAB® R2016a