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% pts1 = [-97.7589, 107.423, 424; | |
% 92.029, 110.208, 432; | |
% 73.7443, 20.5885, 427; | |
% -75.4565, 17.4702, 424; | |
% 13.7856, 64.4569, 425]; | |
% | |
% pts2 = [-37.0552, -124.662, -411.111; | |
% -28.2589, 87.5111, -421.536; | |
% -123.679, 63.8717, -417.216; | |
% -132.088, -101.241, -408.636; | |
% -73.1458, -2.91322, -414.225]; | |
pts1 = [-7.25706, -31.4278, 643.5; | |
36.8112, -30.0153, 646; | |
53.801, 8.4949, 646; | |
94.5564, -12.6477, 687; | |
28.8827, 26.6174, 646]; | |
pts2 = [29.076, -15.785, -147.635; | |
-18.8262, -20.2719, -148.67; | |
-38.2911, -16.4062, -104.167; | |
-82.3088, 16.3664, -129.354; | |
-9.21941, -21.092, -82.9692]; | |
% figure(1); | |
% plot3(pts1(:,1), pts1(:,2), pts1(:,3), '-*'); | |
% xlabel('x'); ylabel('y'); zlabel('z'); | |
% text(pts1(1,1), pts1(1,2), pts1(1,3), '1'); | |
% axis equal; | |
% figure(2); | |
% plot3(pts2(:,1), pts2(:,2), pts2(:,3), '-*'); | |
% xlabel('x'); ylabel('y'); zlabel('z'); | |
% text(pts2(1,1), pts2(1,2), pts2(1,3), '1'); | |
% axis equal; | |
pts1t = pts1'; | |
pts2t = pts2'; | |
% http://nghiaho.com/?page_id=671 | |
centroid1 = mean(pts1t, 2); | |
centroid2 = mean(pts2t, 2); | |
pts1tzero = pts1t - repmat(centroid1, 1, size(pts1t, 2)); | |
pts2tzero = pts2t - repmat(centroid2, 1, size(pts2t, 2)); | |
% figure(3); | |
% plot3(pts1tzero(1,:), pts1tzero(2,:), pts1tzero(3,:), '-*'); | |
% xlabel('x'); ylabel('y'); zlabel('z'); | |
% text(pts1tzero(1,1), pts1tzero(2,1), pts1tzero(3,1), '1'); | |
% hold on | |
% plot3(pts2tzero(1,:), pts2tzero(2,:), pts2tzero(3,:), '-*'); | |
% xlabel('x'); ylabel('y'); zlabel('z'); | |
% text(pts2tzero(1,1), pts2tzero(2,1), pts2tzero(3,1), '1'); | |
% axis equal; | |
% hold off; | |
H = zeros(3, 3); | |
for i = 1:size(pts1t, 2) | |
H = H + pts1tzero(:,i) * pts2tzero(:,i)'; | |
end | |
[U, S, V] = svd(H); | |
R = V * U | |
t = - R * centroid1 + centroid2 | |
T = [R, t; 0, 0, 0, 1] | |
T_inv = inv(T) | |
mapped1 = R * pts1t + repmat(t, 1, size(pts1t,2)) | |
% mapped1 = T * [pts1t; ones(1, size(pts1t,2))] | |
figure(3); | |
plot3(mapped1(1,:), mapped1(2,:), mapped1(3,:), '-*'); | |
xlabel('x'); ylabel('y'); zlabel('z'); | |
text(mapped1(1,1), mapped1(2,1), mapped1(3,1), '1'); | |
hold on | |
plot3(pts2t(1,:), pts2t(2,:), pts2t(3,:), '-*'); | |
xlabel('x'); ylabel('y'); zlabel('z'); | |
text(pts2t(1,1), pts2t(2,1), pts2t(3,1), '1'); | |
axis equal; | |
hold off; | |
legend('1', '2'); | |
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