/ICP-MCC

ICP with Maximum Correntropy Criterion

Primary LanguagePython

ICP-MCC

ICP with Maximum Correntropy Criterion

Run the command to see the arguments.

python icp_test.py -h

Run the command to run normal ICP

python icp_test.py --input path/to/pointcloud1 --input2 path/to/pointcloud2 --metric mse --iter 30

Run the command to run ICP-BiMCC

python icp_test.py --input path/to/pointcloud1 --input2 path/to/pointcloud2 --metric mcc --iter 30 --bi_dir

You can also run ICP with 1 pointcloud

python icp_test.py --input path/to/pointcloud1 --metric mcc --iter 30 --transform matrix

If not given a transformation, it will generate a random matrix