This a set of simple implementations for aligning scans of range-bearing laser data. Th are written as a journalist in demonstrations of basic algor ithm implementations and are not designed for r Leveraging-world (ie, efficient) application. The source code consi sts of MatLab scripts, Mex-files and C code. to objects). This demo als o provides a nice example of using the "placement ne w "and explicit destruction.

Packet : 81404573scan_matching.zip filelist
scan_matching/
scan_matching/correlate_variance/
scan_matching/correlate_variance/version1_gauss_svd/
scan_matching/correlate_variance/version1_gauss_svd/align_svd.m
scan_matching/correlate_variance/version1_gauss_svd/data.mat
scan_matching/correlate_variance/version1_gauss_svd/demo_gauss_svd.m
scan_matching/correlate_variance/version1_gauss_svd/gauss_variance_svd.m
scan_matching/correlate_variance/version1_gauss_svd/make_gaussian_sum.m
scan_matching/correlate_variance/version1_gauss_svd/sigma_ellipse.m
scan_matching/correlate_variance/version1_gauss_svd/sog_correlate.dll
scan_matching/correlate_variance/version1_gauss_svd/sog_optimise.dll
scan_matching/correlate_variance/version1_gauss_svd/transform_to_global.m
scan_matching/correlate_variance/version2_importance_sampling/
scan_matching/correlate_variance/version2_importance_sampling/data.mat
scan_matching/correlate_variance/version2_importance_sampling/demo_importance_gauss.m
scan_matching/correlate_variance/version2_importance_sampling/importance_gaussian.m
scan_matching/correlate_variance/version2_importance_sampling/make_gaussian_sum.m
scan_matching/correlate_variance/version2_importance_sampling/multivariate_gauss.m
scan_matching/correlate_variance/version2_importance_sampling/sample_mean.m
scan_matching/correlate_variance/version2_importance_sampling/sigma_ellipse.m
scan_matching/correlate_variance/version2_importance_sampling/sog_correlate.dll
scan_matching/correlate_variance/version2_importance_sampling/stratified_random.m
scan_matching/correlate_variance/version2_importance_sampling/stratified_resample.m
scan_matching/correlate_variance/version2_importance_sampling/transform_to_global.m
scan_matching/least_squares_align/
scan_matching/least_squares_align/align_least_squares.m
scan_matching/least_squares_align/data.mat
scan_matching/least_squares_align/demo_least_squares.m
scan_matching/least_squares_align/pi_to_pi.m
scan_matching/least_squares_align/transform_to_global.m
scan_matching/mexdemos/
scan_matching/mexdemos/demo_icp.m
scan_matching/mexdemos/demo_icp_2.m
scan_matching/mexdemos/demo_icp_3.m
scan_matching/mexdemos/demo_k_neighbours.m
scan_matching/mexdemos/demo_nearest_neighbour.m
scan_matching/mexdemos/demo_sog_correlate.m
scan_matching/mexdemos/demo_sog_optimise.m
scan_matching/mexdemos/icp.dll
scan_matching/mexdemos/k_neighbours.dll
scan_matching/mexdemos/laserdata.mat
scan_matching/mexdemos/make_gaussian_sum.m
scan_matching/mexdemos/nearest_neighbour.dll
scan_matching/mexdemos/pi_to_pi.m
scan_matching/mexdemos/sog_correlate.dll
scan_matching/mexdemos/sog_correlate_m.m
scan_matching/mexdemos/sog_correlate_variant.dll
scan_matching/mexdemos/sog_optimise.dll
scan_matching/mexdemos/transform_to_global.m
scan_matching/mexfiles/
scan_matching/mexfiles/icp/
scan_matching/mexfiles/icp/icp.vcproj
scan_matching/mexfiles/icp/module.def
scan_matching/mexfiles/k_neighbours/
scan_matching/mexfiles/k_neighbours/k_neighbours.vcproj
scan_matching/mexfiles/k_neighbours/module.def
scan_matching/mexfiles/mexfiles.ncb
scan_matching/mexfiles/mexfiles.sln
scan_matching/mexfiles/mexfiles.suo
scan_matching/mexfiles/mex_icp.cpp
scan_matching/mexfiles/mex_k_neighbours.cpp
scan_matching/mexfiles/mex_nearest_neighbour.cpp
scan_matching/mexfiles/mex_nearest_neighbour_old.cpp
scan_matching/mexfiles/mex_sog_correlate.cpp
scan_matching/mexfiles/mex_sog_correlate_variant.cpp
scan_matching/mexfiles/mex_sog_optimise.cpp
scan_matching/mexfiles/nearest_neighbour/
scan_matching/mexfiles/nearest_neighbour/module.def
scan_matching/mexfiles/nearest_neighbour/nearest_neighbour.vcproj
scan_matching/mexfiles/sog_correlate/
scan_matching/mexfiles/sog_correlate/module.def
scan_matching/mexfiles/sog_correlate/sog_correlate.vcproj
scan_matching/mexfiles/sog_optimise/
scan_matching/mexfiles/sog_optimise/module.def
scan_matching/mexfiles/sog_optimise/sog_optimise.vcproj
scan_matching/Readme.txt
scan_matching/source/
scan_matching/source/geometry2D.cpp
scan_matching/source/geometry2D.hpp
scan_matching/source/icp.cpp
scan_matching/source/icp.hpp
scan_matching/source/likelihood_function.hpp
scan_matching/source/nn.cpp
scan_matching/source/nn.hpp
scan_matching/source/simplex.cpp
scan_matching/source/simplex.hpp
scan_matching/source/sog_match.cpp
scan_matching/source/sog_match.hpp

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