A variety of ICP algorithm implementation, can be used to do comparative testing; Including ICP, ICP_GN,ICP_SVD,ICP_CERES,ICP_G2O,NDT,SICP,NDT_CPU;
[GN,ceres and g2o left/right perturbation update need further examination]
-csdn
-[Eigen]
-[BOOST]
-[PCL]
-[OPENCV]
-[G2o]
-[Ceres]
Use the following commands to download and compile the package.
cd ~/${yourdir}
git clone https://github.com/chengwei0427/testICP.git
cd ./testICP/build
cmake ..
make
- you should change the cmakelist, find the right dependencies; I think you can finish the work yourself
2.you could change the config/config.yaml to test different ICP method;
cd ./bin/
./test_optimize_icp
- add floam use g2o instead of ceres
- Add gicp,vgicp
- [Add Comparison]
Thanks shenlan,floam.