icp's Introduction

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.

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why did this ? what's the meaning?

if (R.determinant() < 0 ){
    Vt.block<1,3>(2,0) *= -1;
    R = Vt.transpose()*U.transpose();
}

ERROR: function icp

hi, the function icp has one error as following:

the point Eigen::MatrixXd dst should be the same as the input point B except for their eigen structure. Thus, the corrected version is as follows:

ICP_OUT icp(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B,
int max_iterations, double tolerance) {
const int row = A.rows();
Eigen::MatrixXd src = Eigen::MatrixXd::Ones(3 + 1, row);
Eigen::MatrixXd src3d = Eigen::MatrixXd::Ones(3, row);
Eigen::MatrixXd dst_chorder = Eigen::MatrixXd::Ones(3, row);

const int rowB = B.rows();
Eigen::MatrixXd dst = Eigen::MatrixXd::Ones(3 + 1, rowB);

NEIGHBOR neighbor;
Eigen::Matrix4d T;
ICP_OUT result;
int iter = 0;

for (int i = 0; i < row; ++i) {
	src.block<3, 1>(0, i) = A.block<1, 3>(i, 0).transpose();
	src3d.block<3, 1>(0, i) = A.block<1, 3>(i, 0).transpose();
}

for (int i = 0; i < rowB; ++i) {
	dst.block<3, 1>(0, i) = B.block<1, 3>(i, 0).transpose();
}
   .....................

}

zjudmd1015 / icp Goto Github PK

icp's Introduction

ICP-mini-project

Introduction

icp's People

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icp's Issues

why did this ? what's the meaning?

ERROR: function icp

The different point sizes of each frame can use its code?

How H was compute?

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