PCL里有很多ICP可以用
is an ICP variant that implements the generalized iterative closest point algorithm as described by Alex Segal et al.
provides a base implementation of the Iterative Closest Point algorithm.
is a special case of
IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.
is an ICP variant that uses Levenberg-Marquardt optimization backend.
This class provides a way to register a stream of clouds where each cloud will be aligned to the previous cloud.
The computational steps for two datasets are straightforward:
from a set of points, identify interest points (i.e., keypoints) that best represent the scene in both datasets;
at each keypoint, compute a feature descriptor;
from the set of feature descriptors together with their XYZ positions in the two datasets, estimate a set of correspondences, based on the similarities between features and positions;
given that the data is assumed to be noisy, not all correspondences are valid, so reject those bad correspondences that contribute negatively to the registration process;
from the remaining set of good correspondences, estimate a motion transformation.