Small collaborative mini-project focused on implementing the Iterative Closest Point algorithm.
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.
Use command $ g++ icp.cpp test.cpp to make, and use command $ ./a.out to run it.