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Iterative Closest Point Method, C++

version (24.4 KB) by Per Bergström
ICP fit points in data to the points in model.


Updated 24 Apr 2008

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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.

Comments and Ratings (8)

how to calculate the error between points of refrence clouds and points of animated clouds.
thank you

Love matlab

Neal Cou

Mi Chang

I am appreciate with your effort.I have a problem with my work.My question is if there is a funcion that align points to a CAD model which is nrbs surface?

jiajia lei


Marcos Millos

You Ser

mex file does not compile using Visual Studio 2005


See previous reason.

Yohai Devir C++ compiler complained about the source code. Yohai changed the code so it works.

MATLAB Release Compatibility
Created with R14SP1
Compatible with any release
Platform Compatibility
Windows macOS Linux

Inspired by: k-D tree

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