wangxihao / icp_and_gicp

ICP and Generalized ICP algorithm based on PCL

ICP_And_GICP

ICP and Generalized ICP algorithm based on PCL

The difference between ICP and GICP is :

    Just change

pcl::IterativeClosestPoint<pcl::PointXYZRGBA, pcl::PointXYZRGBA> icp; in icp.cpp

to pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZRGBA, pcl::PointXYZRGBA> gicp; in GICP.cpp

Here are the transformation results.

ICP

0.999742 0.0175653 0.0144246 -0.0213903 -0.017617 0.99984 0.00345219 0.0117261 -0.0143607 -0.00370541 0.999891 -0.0352564 0 0 0 1

Generalized ICP

0.999862 0.0159368 0.00458374 -0.00115125 -0.0158798 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