GO-ICP for 2D registration

[sgrayb]

Is it possible to configure GO-ICP for 2D registration? i.e., two translation parameters and one rotation parameter.

I believe I can effectively set the translation vector to zero by setting transWidth to 0.0 in the config.txt file. Is it possible to set the axes of the translation domain independently?

@yangjiaolong any help would be greatly appreciated.

[narutojxl]

@sgrayb, i have the same question, support 2D registration ? How to config in 2D problem? Config go-icp as the following, still not get right solution. Thanks for your help.

 <go-icp>
    <MSEThresh>0.0001</MSEThresh>
    <rotMinX>0.0</rotMinX>
    <rotMinY>0.0</rotMinY>
    <rotMinZ>-3.1416</rotMinZ>  
    <rotWidth>3.1416</rotWidth>

    <transMinX>-2</transMinX>
    <transMinY>-2</transMinY>
    <transMinZ>0.0</transMinZ>
    <transWidth>1.0</transWidth> 

    <trimFraction>0.0</trimFraction>  
    <distTransSize>200</distTransSize> 
    <distTransExpandFactor>1.0</distTransExpandFactor>

    <doTrim>0</doTrim>

</go-icp>