语义ICP算法的C++代码

我可以为您提供一个简单的语义ICP算法的C代码示例。以下是一个基本的实现：

#include <stdio.h>
#include <math.h>

#define MAX_POINTS 100

typedef struct {
    double x;
    double y;
} Point;

double distance(Point p1, Point p2) {
    double dx = p1.x - p2.x;
    double dy = p1.y - p2.y;
    return sqrt(dx*dx + dy*dy);}

void icp(Point *srcPoints, Point *dstPoints, int numPoints, double tolerance, int maxIterations) {
    int i, j, iter;
    double totalError;
    double meanX, meanY, sumX, sumY;
    double deltaX, deltaY;
    
    for (iter = 0; iter < maxIterations; iter++) {
        // Step 1: Find closest points
        for (i = 0; i < numPoints; i++) {
            double minDistance = INFINITY;
            int closestIndex = -1;
            
            for (j = 0; j < numPoints; j++) {
                double dist = distance(srcPoints[i], dstPoints[j]);
                
                if (dist < minDistance) {
                    minDistance = dist;
                    closestIndex = j;
                }
            }
            
            srcPoints[i].x = dstPoints[closestIndex].x;
            srcPoints[i].y = dstPoints[closestIndex].y;
        }
        
        // Step 2: Compute mean translation
        sumX = sumY = 0.0;
        for (i = 0; i < numPoints; i++) {
            sumX += srcPoints[i].x - dstPoints[i].x;
            sumY += srcPoints[i].y - dstPoints[i].y;
        }
        
        meanX = sumX / numPoints;
        meanY = sumY / numPoints;
        
        // Step 3: Update source points
        for (i = 0; i < numPoints; i++) {
            srcPoints[i].x -= meanX;
            srcPoints[i].y -= meanY;
        }
        
        // Step 4: Compute total error
        totalError = 0.0;
        for (i = 0; i < numPoints; i++) {
            totalError += distance(srcPoints[i], dstPoints[i]);
        }
        
        // Step 5: Check convergence
        if (totalError < tolerance) {
            break;
        }
    }
}

int main() {
    Point srcPoints[MAX_POINTS] = {{1.0, 2.0}, {3.0, 4.0}, {5.0, 6.0}}; // Source points
    Point dstPoints[MAX_POINTS] = {{2.0, 3.0}, {4.0, 5.0}, {6.0, 7.0}}; // Destination points
    int numPoints = 3; // Number of points
    double tolerance = 0.01; // Tolerance for convergence
    int maxIterations = 100; // Maximum number of iterations
    
    icp(srcPoints, dstPoints, numPoints, tolerance, maxIterations);
    
    printf("Transformed points:\n");
    for (int i = 0; i < numPoints; i++) {
        printf("Point %d: (%f, %f)\n", i+1, srcPoints[i].x, srcPoints[i].y);
    }
    
    return 0;
}

这是一个简单的ICP算法实现，其中包括了与点相关的结构体、距离计算函数、ICP函数和一个示例的main函数。您可以将源点和目标点的坐标输入到`srcPoints`和`dstPoints`数组中，然后调用`icp`函数进行配准。最后，输出变换后的源点坐标。请根据您的需求进行相应修改。