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Jaden

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20 Jul 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

Your code is working great for me! (It turns out that the random noise adding was causing my initial problem). However, it only seems to work well when the matching is close -- does it have a place to input an initial guess so that it works better?

18 Jun 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

Hello -- the ICP code seems to be working great, even with 2D inputs, except that I keep getting this error when I run the icp code in a loop (and it doesn't happen at the same iteration of the loop every time, sometimes at 86, 102, 106, 107, 109, and more) even with the same variables and settings and data.

Error code:

??? Error using ==> KDTreeSearcher.knnsearch at 165 Complex data is not allowed.

Error in ==> icp>match_kDtree at 335 [match mindist] = knnsearch(kdOBJ,transpose(p));

Error in ==> icp at 289 [~, mindist] = match_kDtree(q,pt,kdOBJ);

Error in ==> testing_icp_movie at 37 [Ricp Ticp ER t] = icp(M, D, 50,'Matching', 'kDtree', 'Extrapolation',true);

Error in ==> overallprogramming_Try2 at 39 testing_icp_movie;

Any ideas? Thank you!

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