ICP_And_GICP-master
所属分类:其他
开发工具:C/C++
文件大小:3KB
下载次数:2
上传日期:2020-05-25 10:25:13
上 传 者:
嗨皮够
说明: ICP AND GICP,ICP算法和GICP的C代码,可以用于点云匹配。代码有注释。简单易懂。适合初学者研究学习。
(ICP AND GICP MASTER,ICP AND GICP MASTER,)
文件列表:
GICP.cpp (2784, 2014-09-03)
LICENSE.md (715, 2014-09-03)
icp.cpp (2821, 2014-09-03)
ICP_And_GICP
============
ICP and Generalized ICP algorithm based on PCL
The difference between ICP and GICP is :
Just change
pcl::IterativeClosestPoint
icp; in icp.cpp
to
pcl::GeneralizedIterativeClosestPoint gicp; in GICP.cpp
Here are the transformation results.
ICP
0.999742 0.0175653 0.0144246 -0.0213903
-0.017617 0.99***4 0.00345219 0.0117261
-0.0143607 -0.00370541 0.99***91 -0.03525***
0 0 0 1
Generalized ICP
0.99***62 0.0159368 0.00458374 -0.00115125
-0.01587*** 0.999799 -0.0122125 0.016856
-0.00477745 0.0121381 0.999915 0.000585352
0 0 0 1
Change the corresponding file name in CMakeLists.txt
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