icp.hpp File Reference

Implementation of ICP (Iterative Closest Point) Algorithm. More...

#include <opencv2/core.hpp>
#include "pose_3d.hpp"
#include <vector>

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Classes
class	cv::ppf_match_3d::ICP
	This class implements a very efficient and robust variant of the iterative closest point (ICP) algorithm. The task is to register a 3D model (or point cloud) against a set of noisy target data. The variants are put together by myself after certain tests. The task is to be able to match partial, noisy point clouds in cluttered scenes, quickly. You will find that my emphasis is on the performance, while retaining the accuracy. This implementation is based on Tolga Birdal's MATLAB implementation in here: http://www.mathworks.com/matlabcentral/fileexchange/47152-icp-registration-using-efficient-variants-and-multi-resolution-scheme The main contributions come from: More...

Namespaces
namespace	cv
namespace	cv::ppf_match_3d

Detailed Description

Implementation of ICP (Iterative Closest Point) Algorithm.

Author

Tolga Birdal <tbirdal AT gmail.com>