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normal_distributions_transform

于 2017-07-02 发布 文件大小:57701KB
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下载积分: 1 下载次数: 13
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代码说明：

  此代码采用正态分布变换算法NDT进行点云配准(This code uses the normal distribution transform algorithm NDT for point cloud registration)

文件列表：

3 normal_distributions_transform
3 normal_distributions_transform\cmake-bin
3 normal_distributions_transform\cmake-bin\ALL_BUILD.vcxproj
3 normal_distributions_transform\cmake-bin\ALL_BUILD.vcxproj.filters
3 normal_distributions_transform\cmake-bin\CMakeCache.txt
3 normal_distributions_transform\cmake-bin\CMakeFiles
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeCCompiler.cmake
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeCXXCompiler.cmake
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeDetermineCompilerABI_C.bin
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeDetermineCompilerABI_CXX.bin
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeRCCompiler.cmake
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CMakeSystem.cmake
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\CMakeCCompilerId.c
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\CompilerIdC.exe
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\CompilerIdC.vcxproj
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CMakeCCompilerId.obj
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog\CL.read.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog\CL.write.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog\CompilerIdC.lastbuildstate
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog\link.read.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdC\Debug\CompilerIdC.tlog\link.write.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\CMakeCXXCompilerId.cpp
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\CompilerIdCXX.exe
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\CompilerIdCXX.vcxproj
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CMakeCXXCompilerId.obj
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog\CL.read.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog\CL.write.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog\CompilerIdCXX.lastbuildstate
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog\link.read.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\3.7.1\CompilerIdCXX\Debug\CompilerIdCXX.tlog\link.write.1.tlog
3 normal_distributions_transform\cmake-bin\CMakeFiles\CMakeError.log
3 normal_distributions_transform\cmake-bin\CMakeFiles\CMakeOutput.log
3 normal_distributions_transform\cmake-bin\CMakeFiles\CMakeTmp
3 normal_distributions_transform\cmake-bin\CMakeFiles\TargetDirectories.txt
3 normal_distributions_transform\cmake-bin\CMakeFiles\b186260ba100993b7724a1effd35ad72
3 normal_distributions_transform\cmake-bin\CMakeFiles\b186260ba100993b7724a1effd35ad72\generate.stamp.rule
3 normal_distributions_transform\cmake-bin\CMakeFiles\cmake.check_cache
3 normal_distributions_transform\cmake-bin\CMakeFiles\feature_tests.bin
3 normal_distributions_transform\cmake-bin\CMakeFiles\feature_tests.cxx
3 normal_distributions_transform\cmake-bin\CMakeFiles\generate.stamp
3 normal_distributions_transform\cmake-bin\CMakeFiles\generate.stamp.depend
3 normal_distributions_transform\cmake-bin\CMakeFiles\generate.stamp.list
3 normal_distributions_transform\cmake-bin\CMakeFiles\vtkRenderingCore_AUTOINIT_vtkInteractionStyle_vtkRenderingFreeType_vtkRenderingOpenGL2.h
3 normal_distributions_transform\cmake-bin\Debug
3 normal_distributions_transform\cmake-bin\Debug\OGLdpf.log
3 normal_distributions_transform\cmake-bin\Debug\normal_distributions_transform.exe
3 normal_distributions_transform\cmake-bin\Debug\normal_distributions_transform.ilk
3 normal_distributions_transform\cmake-bin\Debug\normal_distributions_transform.pdb
3 normal_distributions_transform\cmake-bin\Debug\room_scan1.pcd
3 normal_distributions_transform\cmake-bin\Debug\room_scan2.pcd
3 normal_distributions_transform\cmake-bin\Debug\room_scan2_transformed.pcd
3 normal_distributions_transform\cmake-bin\ZERO_CHECK.vcxproj
3 normal_distributions_transform\cmake-bin\ZERO_CHECK.vcxproj.filters
3 normal_distributions_transform\cmake-bin\cmake_install.cmake
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\CL.read.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\CL.write.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\custombuild.read.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\custombuild.write.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\link.read.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\link.write.1.tlog
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_d.624E16CB.tlog\normal_distributions_transform.lastbuildstate
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_distributions_transform.Build.CppClean.log
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_distributions_transform.log
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\normal_distributions_transform.obj
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.dir\Debug\vc120.pdb
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.sdf
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.sln
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.v12.suo
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.vcxproj
3 normal_distributions_transform\cmake-bin\normal_distributions_transform.vcxproj.filters
3 normal_distributions_transform\cmake-bin\x64
3 normal_distributions_transform\cmake-bin\x64\Debug
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.Build.CppClean.log
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.log
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.tlog
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.tlog\ZERO_CHECK.lastbuildstate
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.tlog\custombuild.read.1.tlog
3 normal_distributions_transform\cmake-bin\x64\Debug\ZERO_CHECK\ZERO_CHECK.tlog\custombuild.write.1.tlog
3 normal_distributions_transform\source
3 normal_distributions_transform\source\CMakeLists.txt
3 normal_distributions_transform\source\normal_distributions_transform.cpp
3 normal_distributions_transform\source\room_scan1.pcd
3 normal_distributions_transform\source\room_scan2.pcd

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    广度优先搜索和深度优先搜索在网络拓扑图上的实现。广度优先搜索是从某一节点开始，搜索与其线连接的所有节点，按照广度方向像外扩展，直到不重复遍历所有节点；深度优先搜索是从某一节点开始，沿着其搜索到的第一个节点不断深入下去，当无法再深入的时候，回溯节点，然后再在回溯中的某一节点开始沿另一个方向深度搜索，直到不重复的遍历所有节点。 (Breadth-first search and depth-first search in the network topology is realized. Breadth-first search is started from a node, searching all the nodes connected to its line, in accordance with the breadth direction as extracapsular extension, until no repeat traverse all nodes depth-first search is started from a node along its search to the first nodes deepening it, when it can not go any further, backtracking node, and then back again in the beginning of a node depth search in the other direction until the non-repetition of the traverse all nodes.)
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