globalICP Constructor method for global ICP class. ---------------------------------------------------------------------- DESCRIPTION/NOTES With the globalICP class the alignment of two or more point clouds can be refined. A prerequisite for this is an approximate alignment of the point clouds. ---------------------------------------------------------------------- INPUT 1 ['OutputFolder', OutputFolder] Path to directory in which output files are stored. If this option is omitted, the path given by the command 'cd' is used as directory. 2 ['TempFolder', TempFolder] Folder in which temporary files are saved, e.g. imported point clouds. If this option is omitted, the path given by the command 'tempdir' is used as directory. ---------------------------------------------------------------------- OUTPUT [obj] Object instance of class globalICP. ---------------------------------------------------------------------- EXAMPLES 1 Minimal working example with 6 point clouds. % Create globalICP object icp = globalICP('OutputFolder', 'D:\temp'); % Add point clouds to object from plain text files % (Added point clouds are saved as mat files, e.g. LionScan1Approx.mat) icp.addPC('LionScan1Approx.xyz'); icp.addPC('LionScan2Approx.xyz'); icp.addPC('LionScan3Approx.xyz'); icp.addPC('LionScan4Approx.xyz'); icp.addPC('LionScan5Approx.xyz'); icp.addPC('LionScan6Approx.xyz'); % Plot all point clouds BEFORE ICP (each in a different random color) figure; icp.plot('Color', 'random'); title('BEFORE ICP'); view(0,0); % Run ICP! icp.runICP('PlaneSearchRadius', 2); % Plot all point clouds AFTER ICP figure; icp.plot('Color', 'random'); title('AFTER ICP'); view(0,0); 2 Continued: Demo of the methods 'loadPC' and 'exportPC'. % Load fifth point cloud to workspace and plot pc = icp.loadPC(5); figure; pc.plot; % Export final point clouds icp.exportPC(1, 'LionScan1.xyz'); icp.exportPC(2, 'LionScan2.xyz'); icp.exportPC(3, 'LionScan3.xyz'); icp.exportPC(4, 'LionScan4.xyz'); icp.exportPC(5, 'LionScan5.xyz'); icp.exportPC(6, 'LionScan6.xyz'); ---------------------------------------------------------------------- philipp.glira@gmail.com ----------------------------------------------------------------------