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.

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

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