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main.m

+%Program entry script
+close all; 
+clear;
+clc;
+
+%1.Import and replace 3-D point clouds: model_clouds is the geometric model, original_clouds is sensor measurements
+model_clouds = dlmread('santan_B.txt');
+initial_clouds = dlmread('santan_A.txt');
+initial_clouds(:,3) = initial_clouds(:,3) - 1000;
+%2.Randomly generated test sparse point cloud
+%id = randi([1,length(model_clouds)],1,30);
+%original_clouds = model_clouds(1:30,:);
+%original_clouds = model_clouds(id,:);
+
+%3.Randomly rotate and move point cloud original_clouds to obtain the test data to be registered
+%[initial_clouds, r_true, t_true] = randtrans(original_clouds); 
+%r_true = r_true';
+%t_true = -t_true;
+%r_true
+%t_true
+
+%4.SPR solve
+%R_ans and T_ans are the resultant rotation and translation to register initial_clouds to model_clouds
+[R_res,T_res,res_clouds] = SPR(initial_clouds,model_clouds);
+%output R,T
+R_res
+T_res
+%5. Visualize
+figure
+
+scatter3(model_clouds(:,1), model_clouds(:,2), model_clouds(:,3),'.r')
+hold on
+scatter3(initial_clouds(:,1), initial_clouds(:,2), initial_clouds(:,3),'b','fill')
+scatter3(res_clouds(:,1), res_clouds(:,2), res_clouds(:,3),'k','fill')
+axis equal
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