ethz-asl/libpointmatcher — pull request #53 by smichaud (2014-11-18 17:00:54+00:00)
Title: ICP example with initial transformation parameters and final transformation output (text file)

I added a parameter to allow initial transformation and a parameter to output the transformation matrices in a text file.

Program call example :
./pmicp --initTranslation [-0.78,-0.48,0] --initRotation [1,0,0;0,1,0;0,0,1] --isTransfoSaved true bun000.csv bun001.csv

Tranformation output example :
Initial transformation :
1 0 0 -0.78
0 1 0 -0.48
0 0 1 0
0 0 0 1

ICP transformation :
1 1.97669e-05 2.76839e-05 -0.0199986
-1.97788e-05 1 4.90163e-05 -0.0199967
-2.76674e-05 -4.89752e-05 1 5.4054e-06
0 0 0 1

Complete transformation :
1 1.97669e-05 2.76839e-05 -0.800008
-1.97788e-05 1 4.90163e-05 -0.499981
-2.76674e-05 -4.89752e-05 1 5.0494e-05
0 0 0 1

note1 : brackets are optional for transformation
note2 : translation is a vector of dimension 3, rotation is a matrix of dimension 3x3
note3 : for --isTransfoSaved, value can be true, false, 1 or 0
note4 : I did not add any additional help information about this