add

Author: hanhaomin

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(normal_distributions_transform)
+
+set(CMAKE_CXX_STANDARD 11)
+
+FIND_PACKAGE(PCL 1.7 REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        rospy
+        tf
+        geometry_msgs
+        )
+include_directories(/opt/holo/3rdparty/include/pcl-1.8)
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+)
+
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+
+add_executable(normal_distributions_transform normal_distributions_transform.cpp )
+target_link_libraries (normal_distributions_transform ${PCL_LIBRARIES}    ${catkin_LIBRARIES})

LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2018 AdamShan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+the Software, and to permit persons to whom the Software is furnished to do so,
+subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

README.md

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+# NDT_PCL_demo
+使用PCL实现正态分布变换配准的例子
+
+使用：
+
+```bash
+cd build
+cmake ..
+make
+./normal_distributions_transform cloud1.pcd cloud2.pcd
+```

build/.f2f26df1c95f9f0971173b5b13bcf5c849bf159c.cam

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+208.401,236.523/-5.44287,27.0961,3.85747/-5.44287,27.0961,224.473/0,1,0/0.523599/1325,540/41,52