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FPFH+ICP Point Cloud Registration

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Author: User
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Auniformsampling Noise Reduction
B, ISS Computing key points, FPFH featuresIn Featurecloud::Setinputcloud in the point cloud, and callsprocessinput for processing:ProcessInput processing includes: 1, computesurfacenormals () usenormalestimation calculate the surface normal vector2, Computelocalfeatures () Fpfhestimationkdtreeisskeypoint3dgetkeypointsindicesinradius
C, Sac-ia registration calculation in Sac-ia registration findbestalignment
D, ICP further registration Iterativeclosestpoint


= = Print output debug information ==//file* FXP = fopen ("F:\\x_p.txt", "w+"), fprintf (FXP, "%.2f", DF); fclose (FXP);



















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FPFH+ICP Point Cloud Registration

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Related Keywords:
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