Test1 ICP

Usage

You can construct a new instance of Test1 ICP with icp::ICP::from_method("test1", config). Supply the following parameters to config (via icp::ICP::Config::set):

Key	Description
"overlap_rate"	A double between 0 and 1 for the * overlap rate. The default is 1.

Description

This is a WIP.

1. Matching Step: see Vanilla ICP for details.
2. Trimming Step: see Trimmed ICP for details.

3. Transformation Step

   See this paper for information. I copied over the rotation optimization from Vanilla ICP, and it is a TODO to see if that is mathematically correct or not.

Read ICP Sources for a list of all resources used in this project. This page was automatically generated from test1.cpp with icp_doc_builder.py.