具体推导过程请参考我的博客 【附优化方法的ICP源码】ICP与NDT匹配算法精度对比,以及手动实现的ICP和基于优化方法的ICP精度对比
这里只是给出了完整的代码,如果你需要用在你自己的项目中,你需要做一些很小的改动,类似于加上CMakeListst.txt文件,以及可能需要面临头文件路径的修改,总之需要修改的地方很容易。
This project forked from zm0612/optimized_icp
采用优化的方案对ICP算法行了实现
具体推导过程请参考我的博客 【附优化方法的ICP源码】ICP与NDT匹配算法精度对比,以及手动实现的ICP和基于优化方法的ICP精度对比
这里只是给出了完整的代码,如果你需要用在你自己的项目中,你需要做一些很小的改动,类似于加上CMakeListst.txt文件,以及可能需要面临头文件路径的修改,总之需要修改的地方很容易。
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