基于ICP算法的图像配准的MATLAB实现.docxVIP

function [TR, TT] = icp(model,data,max_iter,min_iter,fitting,thres,init_flag,tes_flag,refpnt)% ICP Iterative Closest Point Algorithm. Takes use of% Delaunay tesselation of points in model.%% Ordinary usage:%% [R, T] = icp(model,data)%% ICP fit points in data to the points in model.% Fit with respect to minimize the sum of square% errors with the closest model points and data points.%% INPUT:%% model - matrix with model points, [Pm_1 Pm_2 ... Pm_nmod]% data - matrix with data points, [Pd_1 Pd_2 ... Pd_ndat]%% OUTPUT:%% R - rotation matrix and% T - translation vector accordingly so%% newdata = R*data + T .%% newdata are transformed data points to fit model%%% Special usage:%% icp(model) or icp(model,tes_flag)%% ICP creates a Delaunay tessellation of points in% model and save it as global variable Tes. ICP also% saves two global variables ir and jc for tes_flag=1 (default) or% Tesind and Tesver for tes_flag=2, which% makes it easy to find in the tesselation. To use the global variables% in icp, put tes_flag to 0.%%% Other usage:%% [R, T] = icp(model,data,max_iter,min_iter,...% fitting,thres,init_flag,tes_flag)%% INPUT:%% max_iter - maximum number of iterations. Default=104%% min_iter - minimum number of iterations. Default=4%% fitting - =2 Fit with respect to minimize the sum of square errors. (default)% alt. =[2,w], where w is a weight vector corresponding to data.% w is a vector of same length as data.% Fit with respect to minimize the weighted sum of square errors.% =3 Fit with respect to minimize the sum to the amount 0.95% of the closest square errors.% alt. =[3,lambda], 0.0lambda=1.0, (lambda=0.95 default)% In each iteration only the amount lambda of the closest% points will affect the translation and rotation.% If 1lambda=siz