/ICP-Visualization

C++ implementation of ICP (Iterative Closest Point) method and visualization

Primary LanguageC++

C++ ICP Algorithm Project

icp2-ezgif-com-crop.gif

This project aims to visualize Iterative Closest Point (ICP) algorithms implemented in C++. Eigen3 and matplotlib-cpp libraries are used, and three ICP variants are planned to be implemented, showcased with checkbox-like indicators:

  • SVD-based ICP
  • Non-linear least squares-based ICP

Installation and Usage

  1. Clone this project repository.

    git clone --recurse-submodules https://github.com/dawan0111/ICP-Project.git
    • The --recurse-submodules flag clones the submodules along with the repository.

  2. Build the project.

    sudo bash ./thirdparty_build.sh
mkdir build
cd build
cmake ..
make

  3. Run the executable to visualize the algorithm.

    ./MAIN_EXAMPLE

Notes

  • This project is built using CMake.

Contribution

To contribute to this project, follow these steps:

  1. Fork this repository.
  2. Create a new branch for your feature or bug fix.
  3. Commit and push your changes.
  4. Open a Pull Request to contribute your changes.

Copyright and License

This project is licensed under the MIT License. See the LICENSE file for details.