shubhranshusingh / icp

Iterative Closest Point Algorithm for finding Rotation and Translation matrices

Code

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