simpleICP
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pglira
Implementations of a rather simple version of the Iterative Closest Point algorithm in various languages.
Thank you for your work in simpleICP, I have used this method to register 3D point cloud in the given DataSet and the result is good. However, when it is...
In some cases the algorithm is crashing peforming ICP for two similar meshes. The same two point clouds (set of vertices) can converge to a result and sometimes can crash...
Hi, I tried out SimpleICP and it seems to work very well for my problem. The only issue with SimpleICP for me is that it's very slow due to not...
I have implemented `PointToPointFunctor` and `PointToPlaneFunctor` (default) and introducted new optional dependency on Ceres. If ceres is not found library uses previous linear method. Is this OK?
I've noticed that in some places you used 1-based indices. I guess all of this should be 0-based? https://github.com/pglira/simpleICP/blob/1478851961c01eab677bd325f93dff9b85d7a069/c%2B%2B/src/simpleicp.cpp#L164 https://github.com/pglira/simpleICP/blob/1478851961c01eab677bd325f93dff9b85d7a069/c%2B%2B/src/simpleicp.cpp#L181 https://github.com/pglira/simpleICP/blob/1478851961c01eab677bd325f93dff9b85d7a069/c%2B%2B/src/pointcloud.cpp#L82
When building transformation matrix from 'alpha1', 'alpha2', 'alpha3', rotation part is not correct. 'alpha1', 'alpha2', 'alpha3' are Euler angles and can not be just inserted in matrix like this: https://github.com/pglira/simpleICP/blob/fd1a926bc0b605c658dad08acd842e433f5eacf7/c%2B%2B/src/corrpts.cpp#L133...
Use PDAL to read/write point clouds. However, PDAL shouldn't become a dependency of simpleICP.
Currently it exists only for the python implementation.