Trimmed ICP

Usage

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 0.0 and 1.0 for the overlap rate. The default is 1.0.

Description

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.

   Sources:
   

   • https://ieeexplore.ieee.org/abstract/document/1047997
3. SVD: see Vanilla ICP for details.
4. Reflection Handling: see Vanilla ICP for details.
5. 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 icp_doc_builder.py.