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An implementation of Iterative Closest Point for point cloud registration.

An application that allows to align two point clouds of the same object in an interactive way, using ICP [1]. Implementation of the Iterative Closest Point algorithm, and the Point-To-Plane [2] variant.

Usage

Dependencies

Libraries needed :

  • LibIGL . Put the libigl source code folder two levels above this repository.
  • ANN (Approximate Nearest Neighbor). Put the ANN source code folder one level above this repository, or change the include_directories and link_directories of the CMake to the corresponding paths.

Building and running the code

Build using CMake and the CMakeLists.txt provided. Run the ICP_registration_viewer target. Change the line string filenames[num_data_total] with the right filenames of your point clouds, in main.cpp.

Using the interface

The libigl GUI menu has several options you can manipulate :

  • Change the "ICP mode" slider in order to perfom point-to-point ICP (0) or point-to-plane ICP (1).
  • Click the "ICP step" button to perform one registration step of the algorithm.
  • Click the "ICP registration" button to perform the algorithm until convergence.
  • Change the values of "Max num iterations" and "Error threshold" to define the convergence stopping conditions.
  • You can roughly pre-align the point clouds by manipulating the "Rotation slider" and "Translation slider".

References

[1] Paul J. Besl et N.D. McKay. A Method for Registration of 3-D Shapes. IEEE Trans. on Pattern Analysis and Machine Intelligence.

[2] LOW, K.-L. 2004. Linear least-squares optimization for point-to- plane icp surface registration. Tech. rep., Chapel Hill, University of North Carolina.