Matlab point cloud symmetry detection

1. Introduction

This is a very interesting function. Its idea is actually somewhat similar to that of the ICP algorithm:

1. First, it will initialize two rotation angles, namely rotation around the x-axis and rotation around the y-axis. The initial process is to symmetrically (mirror) the point and calculate the distance error between the matching point. The one with the smallest error is the optimal initialization. value.
2. Based on the initial rotation angle, the initial rotation angle is iteratively corrected until the final result meets the threshold we set or reaches the specified number of iterations, then the algorithm stops. Of course, this is just a brief description. The specific process is quite complicated, as shown in the figure below:

2. Implement the code

%