lihu577/icp

C++ implementation of 3-dimensional ICP (Iterative Closest Point) method.

ICP-mini-project

Small collaborative mini-project focused on implementing the Iterative Closest Point algorithm.

Introduction

C++ implementation of 3-dimensional ICP (Iterative Closest Point) algorithm. A Python implementation of ICP by Clay Flannigan was referred and rewritten into a C++ version in this project.

• ICP finds a best fit rigid body transformation between two point sets. Correspondence between the points is not assumed. Included is an SVD-based least-squared best-fit algorithm for corresponding point sets.
• In this version, exhaustive search method is used to find the nearest neighbor for each point.
• Eigen library is used for matrices operations.

ICP Wiki | Eigen

Use command $ g++ icp.cpp test.cpp to make, and use command $ ./a.out to run it.