lvisroot/icp

Icp Library featuring Point to Point, Point to Plane, ICP in Sim3 for scaling, and more to come :)

What is this?

This library implements various Iterative Closest Point algorithm approaches. The main well known approaches are already implemented:

• Point to Point ICP in SE3: Minimises the distance between each point on its nearest neighbour
• Point to Plane ICP in SE3: Minimises the distance between each point on its projection on the plane locally defined at the nearest neighbour (projection along plane normal)
• Point to Point ICP in Sim3: Performs the minimisation in the Sim(3) group, thus allowing to estimate a scale factor between two point clouds
• Point to Plane ICP in Sim3

For all methods, it is possible to use MEstimators to robustely discard outliers. DISCLAIMER: this feature has been poorly tested.

TODO

• Non uniform scaling estimation
• Constraints

How to build

• Fist install google logging library

  sudo apt-get install libgoogle-glog-dev

Then, install the icp library as follow

  mkdir build
  cd build
  # set EXAMPLES to ON if you want sample binaries,
  # set TEST to ON if you want to build the unit tests
  ccmake ..
  make -j4
  # If you want to compile the doxygen documentation for the project
  make doc 
  # This will install the library and headers to /usr/local
  sudo make install