iterative closest points
CEV ICP algorithm library
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Trimmed ICP
You can construct a new instance of Trimmed ICP with icp::ICP::from_method("trimmed", 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.
Trimmed ICP is identical to Vanilla ICP with the addition of an overlap rate parameter, which specifies the percentage of points between the two point sets that have correspondences. When the overlap rate is 1, the algorithm reduces to vanilla.
  1. Matching Step: see Vanilla ICP for details.
  2. Trimming Step

    Matches are considered in increasing order of distance.


  3. Transformation Step: see Vanilla ICP for details.

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