How to run the code

How to run the code

Get the Code

git clone https://github.com/fnivek/mobile_robotics_final.git

Usage

First go to the correct path in your Matlab.

Run the Model-to-Scene Experiment

Run the experiment with our example data and default setting by:

run('mts',false)

Run the Model-to-Model Experiment

Run the experiment with our example data and default setting by:

run('mtm',false)

Run the code with your own preferrence

Run the code with your specification by:

run(type, makeVideo, path_to_model, path_to_scene, ds_ratio_source, ds_ratio_target)

• type : choose from 'mts', 'mtm', or 'ftf'.
• makeVideo : boolean value, true if you want to record a video.
• path_to_model, path_to_scene: the path to your own data.
• ds_ratio_source, ds_ratio_target: the down sample ratio of source and targe point cloud.

Dependencies

• You need the Aerospace Toolbox in Matlab to run optimize.m

Tips

• If you want to run the algorithm faster, please try to down sample the data (specify the down sample ratio).