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Line 24... Line 24...
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    xInit((k-1)*6+1:(k-1)*6+3) = wi*thetai;
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    xInit((k-1)*6+1:(k-1)*6+3) = wi*thetai;
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    xInit((k-1)*6+4:(k-1)*6+6) = initialAlign(k).Translation;
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    xInit((k-1)*6+4:(k-1)*6+6) = initialAlign(k).Translation;
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end
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end
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options = optimset('Algorithm', 'levenberg-marquardt', 'Display', 'iter-detailed', 'OutputFcn', @outfun, 'MaxIter', [], 'TolFun', 0, 'TolX', 0);
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options = optimset('Algorithm', 'levenberg-marquardt', 'Display', 'iter-detailed', 'OutputFcn', @outfun, 'MaxIter', 100, 'TolFun', 0, 'TolX', 0);
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[x, ~, ~] = lsqnonlin(@orthProcFun, xInit, [], [], options);
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[x, ~, ~] = lsqnonlin(@orthProcFun, xInit, [], [], options);
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alignment = struct('Rotation', {}, 'Translation', {});
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alignment = struct('Rotation', {}, 'Translation', {});
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for k=1:Np
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for k=1:Np
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    wi = x((k-1)*6+1:(k-1)*6+3);
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    wi = x((k-1)*6+1:(k-1)*6+3);
Line 65... Line 65...
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            %Npi = size(cat(1, Pbar{i,:}), 1);
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            %Npi = size(cat(1, Pbar{i,:}), 1);
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            for j=1:Nc
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            for j=1:Nc
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                % number of points in current cluster
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                % number of points in current cluster
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                Ncj = size(cat(1, Pbar{:,j}), 1);
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                Ncj = size(cat(1, Pbar{:,j}), 1);
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                if(not(isempty(Pbar{i,j})))
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                if(not(isempty(Pbar{i,j})))
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                    for k=setxor(1:Np, i)
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                    for l=setxor(1:Np, i)
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                        if(not(isempty(Pbar{k,j})))
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                        if(not(isempty(Pbar{l,j})))
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                            %e = [e; 1/Npi * norm(Pbar{k,j} - Pbar{i,j})];
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                            %e = [e; 1/Npi * norm(Pbar{k,j} - Pbar{i,j})];
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                            e = [e; sqrt(1/Ncj) * norm(Pbar{k,j} - Pbar{i,j})];
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                            e = [e; sqrt(1/Ncj) * norm(Pbar{l,j} - Pbar{i,j})];
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                            %e = [e; norm(Pbar{k,j} - Pbar{i,j})];
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                            %e = [e; norm(Pbar{k,j} - Pbar{i,j})];
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                        end
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                        end
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                    end
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                    end
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                end
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                end
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            end
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            end