This folder contains ICP.ipynb jupyter notebook.
The first cell contains all the required functions.
The second cell contains reading the file(where file name can be changed default is P_1.txt and Q_1.txt), making descriptors and finding initial matches
The third cell contains code to find R,t and transformed points and plotting all the point clouds. Plot requires intalltion as stated here: https://github.com/matplotlib/jupyter-matplotlib
shubhranshusingh / icp Goto Github PK
View Code? Open in Web Editor NEWIterative Closest Point Algorithm for finding Rotation and Translation matrices