Download All

Code covered by the BSD License

3.75

3.8 | 4 ratings Rate this file 84 Downloads (last 30 days) File Size: 24.42 KB File ID: #16766

Iterative Closest Point Method, C++

09 Oct 2007 (Updated 24 Apr 2008)

ICP fit points in data to the points in model.

File Information
Description	ICP - Iterative Closest Point algorithm, c++ implementation. Handles only points in R^3. Makes use of a kd-tree for closest-point search. ICP finds the transformation of points in data to fit points in model. Fit with respect to minimize a weighted sum of squares for distances between the data points and the corresponding closest model points.
Acknowledgements	The author wishes to acknowledge the following in the creation of this submission: k-D tree
MATLAB release	MATLAB 7.0.1 (R14SP1)

Tags for This File
Everyone's Tags	c(4), icp(2), iterative closest point(2), kd, kdtree, optimization, tree, weighted
Tags I've Applied
Add New Tags	Please login to tag files.

Comments and Ratings (4)
18 Feb 2008	You Ser	mex file does not compile using Visual Studio 2005
10 Apr 2008	Marcos Millos
02 Feb 2012	Nicholas
09 Feb 2012	jiajia lei

Please login to add a comment or rating.

Updates
21 Apr 2008	Yohai Devir C++ compiler complained about the source code. Yohai changed the code so it works.
24 Apr 2008	See previous reason.