zjudmd1015 / icp Goto Github PK
View Code? Open in Web Editor NEWC++ implementation of 3-dimensional ICP (Iterative Closest Point) method.
License: MIT License
C++ implementation of 3-dimensional ICP (Iterative Closest Point) method.
License: MIT License
The different point sizes of each frame can use its code?
@zjudmd1015
I'm confused about the matrix H computed here.
H * A = B; --> H = A' * B, any reference?
Here A, B are corresponding point set, A' means A transpose, H is transform matrix;
if (R.determinant() < 0 ){
Vt.block<1,3>(2,0) *= -1;
R = Vt.transpose()*U.transpose();
}
hi, the function icp has one error as following:
the point Eigen::MatrixXd dst should be the same as the input point B except for their eigen structure. Thus, the corrected version is as follows:
ICP_OUT icp(const Eigen::MatrixXd &A, const Eigen::MatrixXd &B,
int max_iterations, double tolerance) {
const int row = A.rows();
Eigen::MatrixXd src = Eigen::MatrixXd::Ones(3 + 1, row);
Eigen::MatrixXd src3d = Eigen::MatrixXd::Ones(3, row);
Eigen::MatrixXd dst_chorder = Eigen::MatrixXd::Ones(3, row);
const int rowB = B.rows();
Eigen::MatrixXd dst = Eigen::MatrixXd::Ones(3 + 1, rowB);
NEIGHBOR neighbor;
Eigen::Matrix4d T;
ICP_OUT result;
int iter = 0;
for (int i = 0; i < row; ++i) {
src.block<3, 1>(0, i) = A.block<1, 3>(i, 0).transpose();
src3d.block<3, 1>(0, i) = A.block<1, 3>(i, 0).transpose();
}
for (int i = 0; i < rowB; ++i) {
dst.block<3, 1>(0, i) = B.block<1, 3>(i, 0).transpose();
}
.....................
}
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