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| Code Listing by Babak Taati |
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This is a simple utility for estimating the rigid transformation that aligns two sets of 3D point clouds, given 3 (or more) point matches.
Input: two sets of 3D point clouds (P1 and P2)
Output: homogeneous transformation that aligns the two clouds
Assumptions:
1- point i in the first point cloud corresponds to point i in the second cloud
2- the transformation is rigid (i.e. only a rotation and a translation)
This is an addition to D. Kroon's OpenNI/NITE wrapper for interfacing with Kinect.
e.g. use:
XYZ = rand(10, 3);
xy = mxNiRealWorld2Pixel(KinectHandles, XYZ);
A simple utility for converting 3d objects of RAW format to (ASCII) STL format.
the zip file includes a sample RAW file (a cube) that can be converted to STL format.
What it dose not do: simplify (e.g. the cube could be...
Lets the user select a point from a 3D point cloud by clicking on it. The selected point is highlighted and its index is printed.
This is a useful tool if you work with 3D point clouds. You can change the mouse click callback function... |
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