iterative closest point library

Question

is there any c++/c open source implementation? i got two point clouds and would like to match them.. any ideas?

Answer 1

Give LibICP a shot, although I personally have not used it so far.

http://www.cvlibs.net/software/libicp.html

EDIT: I tried it by myself, not a great experience -- the library is short of documentation and example code. Also, I didn't receive much help from the authors too.

Answer 2

I wrote a article about accelerated line search on ddj.com some time ago. I dont exactly understand what you want to do but the approach shown there divides the whole area into "quadrants" of a given search width. This reduces the time for search significantly. It may also be used with points.

http://www.drdobbs.com/cpp/198900559

Answer 3

You can compare these 2 clusters of points by measuring Hausdorff distance

between clusters. The bigger Hausdorff distance is - the more dissimilar clusters are.

hope that helps.

Answer 4

Please refer to trimesh2 library, which provides a ICP example. http://www.cs.princeton.edu/gfx/proj/trimesh2/