A python binding for C++ gicp. Contribute to yifanlu0227/gicp-python development by creating an account on GitHub.
这段代码是根据.launch文件中的点云配准算法设置,选择对应的点云配准算法,该源码共支持以下几种点云配准算法:icp, gicp, ndt以及它们的openmp加速版本。接下来将分别对这几种算法进行介绍。 点云匹配包括两方面内容,一是根据配置文件选择点云匹配方法,二是根据订阅得到的点云去匹配得到位姿。 该函数输入为 prefilte...
The most mature and widely used method is the point-to-point ICP method, which uses the point-to-point distance for calculating the closest points [7]. There are also many variants of ICP, such as point-to-plane ICP and GICP [8]. The former uses the point-to-plane distance to ...
This algorithm can be considered to be a variant of Point-to-Plane ICP [6]. In order to speed up the scan matching ability of the GICP, Koide [7] proposed the use of voxels to accelerate nearest neighbor searching. Serafin [8] introduced normal vector and curvature information into the ...